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Dependencies:   mbed-rtos mbed

Global.h@34:770a6bbb4d63, 2017-03-01 (annotated)

Committer:
naoya1687
Date:
Wed Mar 01 14:34:27 2017 +0000
Revision:
34:770a6bbb4d63
Parent:
33:d939479e7b13
Child:
35:63ccdae58da4
ServoSend.h

Who changed what in which revision?

UserRevisionLine numberNew contents of line
shimogamo 0:2a15bd367891 1 #ifndef BIRD_CENTRAL_GLOBAL_H_
shimogamo 0:2a15bd367891 2 #define BIRD_CENTRAL_GLOBAL_H_
shimogamo 4:650af94bf062 3
shimogamo 0:2a15bd367891 4 #include "mbed.h"
shimogamo 9:d1fc0805ec7d 5 #include "rtos.h"
shimogamo 9:d1fc0805ec7d 6
shimogamo 9:d1fc0805ec7d 7
shimogamo 0:2a15bd367891 8 class Global {
shimogamo 9:d1fc0805ec7d 9
shimogamo 4:650af94bf062 10 static double maxpitch;
shimogamo 4:650af94bf062 11 static double minpitch;
shimogamo 4:650af94bf062 12 static double neutralpitch;
shimogamo 4:650af94bf062 13 static double maxyaw;
shimogamo 4:650af94bf062 14 static double minyaw;
shimogamo 4:650af94bf062 15 static double neutralyaw;
shimogamo 4:650af94bf062 16
shimogamo 0:2a15bd367891 17 static double maxpitchdegree;
shimogamo 0:2a15bd367891 18 static double neutralpitchdegree;
shimogamo 0:2a15bd367891 19 static double minpitchdegree;
shimogamo 0:2a15bd367891 20 static double neutralyawdegree;
shimogamo 0:2a15bd367891 21 static double maxyawdegree;
shimogamo 0:2a15bd367891 22 static double minyawdegree;
shimogamo 8:ca92cb674004 23
shimogamo 8:ca92cb674004 24 static double maxpitchplayratio;
shimogamo 8:ca92cb674004 25 static double minpitchplayratio;
shimogamo 8:ca92cb674004 26 static double maxyawplayratio;
shimogamo 8:ca92cb674004 27 static double minyawplayratio;
shimogamo 9:d1fc0805ec7d 28
shimogamo 9:d1fc0805ec7d 29 static double trimpitchrate;
shimogamo 4:650af94bf062 30
shimogamo 8:ca92cb674004 31 static double pitch;
shimogamo 8:ca92cb674004 32 static double pitchdegree;
shimogamo 10:0a4bf8c82493 33 static int inttrimpitch;
shimogamo 8:ca92cb674004 34 static double yaw;
shimogamo 8:ca92cb674004 35 static double yawdegree;
shimogamo 10:0a4bf8c82493 36 static int inttrimyaw;
shimogamo 1:3f857674a290 37 static double airspeed;
naoya1687 33:d939479e7b13 38 static float cadence;
naoya1687 33:d939479e7b13 39 static float ultsonic;
shimogamo 10:0a4bf8c82493 40 static double atmpress;
naoya1687 32:13aba70baa4b 41 //static int selector;
naoya1687 33:d939479e7b13 42 static float cadencevolt;
naoya1687 33:d939479e7b13 43 static float ultsonicvolt;
shimogamo 19:c6ad6b453b39 44 static double servovolt;
shimogamo 19:c6ad6b453b39 45 static double miconvolt;
shimogamo 10:0a4bf8c82493 46
shimogamo 13:a8e10a69df45 47 static int pitchtime;
shimogamo 13:a8e10a69df45 48 static int pitchdegreetime;
shimogamo 13:a8e10a69df45 49 static int inttrimpitchtime;
shimogamo 13:a8e10a69df45 50 static int yawtime;
shimogamo 13:a8e10a69df45 51 static int yawdegreetime;
shimogamo 13:a8e10a69df45 52 static int inttrimyawtime;
shimogamo 13:a8e10a69df45 53 static int airspeedtime;
shimogamo 13:a8e10a69df45 54 static int cadencetime;
shimogamo 13:a8e10a69df45 55 static int ultsonictime;
shimogamo 13:a8e10a69df45 56 static int atmpresstime;
naoya1687 32:13aba70baa4b 57 //static int selectortime;
naoya1687 31:cef6ee7af014 58 static int cadencevolttime;
naoya1687 31:cef6ee7af014 59 static int ultsonicvolttime;
shimogamo 19:c6ad6b453b39 60 static int servovolttime;
shimogamo 19:c6ad6b453b39 61 static int miconvolttime;
shimogamo 19:c6ad6b453b39 62
shimogamo 12:8e39bb45c61c 63
shimogamo 12:8e39bb45c61c 64
shimogamo 1:3f857674a290 65
shimogamo 0:2a15bd367891 66 public :
shimogamo 12:8e39bb45c61c 67 static Queue<char, 20> initqueue;
shimogamo 16:7e36177b4435 68 static Queue<char, 20> displayqueue;
shimogamo 9:d1fc0805ec7d 69
shimogamo 5:9a1ec02229dd 70 static void initialize();
shimogamo 6:0d9fa7152934 71 static void fileread();
shimogamo 6:0d9fa7152934 72 static void filewrite();
shimogamo 5:9a1ec02229dd 73
shimogamo 0:2a15bd367891 74 static const int rotateperrevolutions=12;
shimogamo 0:2a15bd367891 75 static const int rotateperrevolutions_onepulse=1;
shimogamo 1:3f857674a290 76
shimogamo 1:3f857674a290 77 static class Timer timer;
naoya1687 34:770a6bbb4d63 78 static class DigitalOut led;
naoya1687 34:770a6bbb4d63 79 //static class LocalFileSystem local;
shimogamo 0:2a15bd367891 80
shimogamo 1:3f857674a290 81
shimogamo 4:650af94bf062 82 static double getmaxpitch();
shimogamo 4:650af94bf062 83 static double getminpitch();
shimogamo 4:650af94bf062 84 static double getneutralpitch();
shimogamo 4:650af94bf062 85 static double getmaxyaw();
shimogamo 4:650af94bf062 86 static double getminyaw();
shimogamo 4:650af94bf062 87 static double getneutralyaw();
shimogamo 4:650af94bf062 88
shimogamo 4:650af94bf062 89 static void setmaxpitch(double _maxpitch);
shimogamo 4:650af94bf062 90 static void setminpitch(double _minpitch);
shimogamo 4:650af94bf062 91 static void setneutralpitch(double _neutralpitch);
shimogamo 4:650af94bf062 92 static void setmaxyaw(double _maxyaw);
shimogamo 4:650af94bf062 93 static void setminyaw(double _minyaw);
shimogamo 4:650af94bf062 94 static void setneutralyaw(double _neutralyaw);
shimogamo 4:650af94bf062 95
shimogamo 4:650af94bf062 96 static double getmaxpitchdegree();
shimogamo 4:650af94bf062 97 static double getneutralpitchdegree();
shimogamo 4:650af94bf062 98 static double getminpitchdegree();
shimogamo 4:650af94bf062 99 static double getmaxyawdegree();
shimogamo 4:650af94bf062 100 static double getneutralyawdegree();
shimogamo 4:650af94bf062 101 static double getminyawdegree();
shimogamo 1:3f857674a290 102
shimogamo 8:ca92cb674004 103 static void setmaxpitchdegree(double _maxpitchdegree);
shimogamo 8:ca92cb674004 104 static void setneutralpitchdegree(double _neutralpitchdegree);
shimogamo 8:ca92cb674004 105 static void setminpitchdegree(double _minpitchdegree);
shimogamo 8:ca92cb674004 106 static void setmaxyawdegree(double _maxyawdegree);
shimogamo 8:ca92cb674004 107 static void setneutralyawdegree(double _neutralyawdegree);
shimogamo 8:ca92cb674004 108 static void setminyawdegree(double _minyawdegree);
shimogamo 4:650af94bf062 109
shimogamo 8:ca92cb674004 110 static double getmaxpitchplayratio();
shimogamo 8:ca92cb674004 111 static double getminpitchplayratio();
shimogamo 8:ca92cb674004 112 static double getmaxyawplayratio();
shimogamo 8:ca92cb674004 113 static double getminyawplayratio();
shimogamo 8:ca92cb674004 114
shimogamo 8:ca92cb674004 115 static void setmaxpitchplayratio(double _maxpitchplayratio);
shimogamo 8:ca92cb674004 116 static void setminpitchplayratio(double _minpitchplayratio);
shimogamo 8:ca92cb674004 117 static void setmaxyawplayratio(double _maxyawplayratio);
shimogamo 8:ca92cb674004 118 static void setminyawplayratio(double _minyawplayratio);
shimogamo 1:3f857674a290 119
shimogamo 9:d1fc0805ec7d 120 static double gettrimpitchrate();
shimogamo 9:d1fc0805ec7d 121
shimogamo 9:d1fc0805ec7d 122 static void settrimpitchrate(double _trimpitchrate);
shimogamo 9:d1fc0805ec7d 123
shimogamo 1:3f857674a290 124
shimogamo 0:2a15bd367891 125 static double getpitch();
shimogamo 8:ca92cb674004 126 static double getpitchdegree();
shimogamo 10:0a4bf8c82493 127 static int getinttrimpitch();
shimogamo 8:ca92cb674004 128 static double getyaw();
shimogamo 8:ca92cb674004 129 static double getyawdegree();
shimogamo 10:0a4bf8c82493 130 static int getinttrimyaw();
shimogamo 0:2a15bd367891 131 static double getairspeed();
naoya1687 33:d939479e7b13 132 static float getcadence();
naoya1687 33:d939479e7b13 133 static float getultsonic();
shimogamo 10:0a4bf8c82493 134 static double getatmpress();
naoya1687 32:13aba70baa4b 135 //static int getselector();
naoya1687 33:d939479e7b13 136 static float getcadencevolt();
naoya1687 33:d939479e7b13 137 static float getultsonicvolt();
shimogamo 19:c6ad6b453b39 138 static double getservovolt();
shimogamo 19:c6ad6b453b39 139 static double getmiconvolt();
shimogamo 1:3f857674a290 140
shimogamo 13:a8e10a69df45 141 static int getpitchtime();
shimogamo 13:a8e10a69df45 142 static int getpitchdegreetime();
shimogamo 13:a8e10a69df45 143 static int getinttrimpitchtime();
shimogamo 13:a8e10a69df45 144 static int getyawtime();
shimogamo 13:a8e10a69df45 145 static int getyawdegreetime();
shimogamo 13:a8e10a69df45 146 static int getinttrimyawtime();
shimogamo 13:a8e10a69df45 147 static int getairspeedtime();
shimogamo 13:a8e10a69df45 148 static int getcadencetime();
shimogamo 13:a8e10a69df45 149 static int getultsonictime();
shimogamo 13:a8e10a69df45 150 static int getatmpresstime();
naoya1687 32:13aba70baa4b 151 //static int getselectortime();
naoya1687 31:cef6ee7af014 152 static int getcadencevolttime();
naoya1687 31:cef6ee7af014 153 static int getultsonicvolttime();
shimogamo 19:c6ad6b453b39 154 static int getservovolttime();
shimogamo 19:c6ad6b453b39 155 static int getmiconvolttime();
shimogamo 19:c6ad6b453b39 156
shimogamo 13:a8e10a69df45 157
shimogamo 13:a8e10a69df45 158
shimogamo 1:3f857674a290 159 static void setpitch(double _pitch);
shimogamo 8:ca92cb674004 160 static void setpitchdegree(double _pitchdegree);
shimogamo 10:0a4bf8c82493 161 static void setinttrimpitch(int _inttrimpitch);
shimogamo 1:3f857674a290 162 static void setyaw(double _yaw);
shimogamo 8:ca92cb674004 163 static void setyawdegree(double _yawdegree);
shimogamo 10:0a4bf8c82493 164 static void setinttrimyaw(int _inttrimyaw);
shimogamo 1:3f857674a290 165 static void setairspeed(double _airspeed);
naoya1687 33:d939479e7b13 166 static void setcadence(float _cadence); //floatにかえる
naoya1687 33:d939479e7b13 167 static void setultsonic(float _ultsonic);
shimogamo 16:7e36177b4435 168 static void setatmpress(double _atmpress);
naoya1687 32:13aba70baa4b 169 //static void setselector(int _selector);
naoya1687 33:d939479e7b13 170 static void setcadencevolt(float _cadencevolt);//floatにかえる
naoya1687 33:d939479e7b13 171 static void setultsonicvolt(float _ultsonicvolt);
shimogamo 19:c6ad6b453b39 172 static void setservovolt(double _servovolt);
shimogamo 19:c6ad6b453b39 173 static void setmiconvolt(double _miconvolt);
shimogamo 0:2a15bd367891 174 };
shimogamo 0:2a15bd367891 175
shimogamo 0:2a15bd367891 176 #endif