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Dependencies:   mbed-rtos mbed

Global.cpp@12:8e39bb45c61c, 2015-11-28 (annotated)

Committer:
shimogamo
Date:
Sat Nov 28 18:47:26 2015 +0000
Revision:
12:8e39bb45c61c
Parent:
10:0a4bf8c82493
Child:
13:a8e10a69df45
Trim?ControllerManager?????

Who changed what in which revision?

UserRevisionLine numberNew contents of line
shimogamo 0:2a15bd367891 1 #include "mbed.h"
shimogamo 0:2a15bd367891 2 #include "Global.h"
shimogamo 9:d1fc0805ec7d 3 #include "rtos.h"
shimogamo 9:d1fc0805ec7d 4
shimogamo 3:e3c41153e5fe 5
shimogamo 3:e3c41153e5fe 6 //トリムはGlobalで足したほうがいいかも
shimogamo 3:e3c41153e5fe 7
shimogamo 3:e3c41153e5fe 8
shimogamo 12:8e39bb45c61c 9 Queue<char, 20> Global::initqueue;
shimogamo 12:8e39bb45c61c 10 Queue<float, 50> Global::displayqueue;
shimogamo 3:e3c41153e5fe 11 //----------------普段は変動しない変数(定数)------------------------------------------------------
shimogamo 9:d1fc0805ec7d 12 //サーボのパラメータ（角度(度数法)で設定）max，minはニュートラルを基準にしている
shimogamo 4:650af94bf062 13 double Global::maxpitch = 5.0;
shimogamo 4:650af94bf062 14 double Global::minpitch = -5.0;
shimogamo 4:650af94bf062 15 double Global::neutralpitch = 0;
shimogamo 4:650af94bf062 16 double Global::maxyaw = 30.0;
shimogamo 4:650af94bf062 17 double Global::minyaw = -30.0;
shimogamo 4:650af94bf062 18 double Global::neutralyaw = 0;
shimogamo 8:ca92cb674004 19 //ジョイスティックのパラメータ(mbedのAnalogIn値[0,1])/max, min, neu全て[0,1]の絶対的な値をとる
shimogamo 4:650af94bf062 20 double Global::maxpitchdegree = 1.0;
shimogamo 4:650af94bf062 21 double Global::minpitchdegree = 0;
shimogamo 4:650af94bf062 22 double Global::neutralpitchdegree = 0.5;
shimogamo 4:650af94bf062 23 double Global::maxyawdegree = 1.0;
shimogamo 4:650af94bf062 24 double Global::minyawdegree = 0;
shimogamo 4:650af94bf062 25 double Global::neutralyawdegree = 0.5;
shimogamo 9:d1fc0805ec7d 26 //ジョイスティックの遊び([-1,1]でニュートラルを0とした時の値)
shimogamo 8:ca92cb674004 27 double Global::maxpitchplayratio = 0;
shimogamo 8:ca92cb674004 28 double Global::minpitchplayratio = 0;
shimogamo 8:ca92cb674004 29 double Global::maxyawplayratio = 0;
shimogamo 8:ca92cb674004 30 double Global::minyawplayratio = 0;
shimogamo 9:d1fc0805ec7d 31 //トリムの変化率（角度(度数法)で設定）
shimogamo 9:d1fc0805ec7d 32 double Global::trimpitchrate = 0.5;
shimogamo 3:e3c41153e5fe 33
shimogamo 3:e3c41153e5fe 34 //----------------周期的に変動する変数------------------------------------------------------
shimogamo 8:ca92cb674004 35 double Global::pitch;
shimogamo 8:ca92cb674004 36 double Global::pitchdegree;//controllerの生データ
shimogamo 10:0a4bf8c82493 37 int Global::inttrimpitch;
shimogamo 8:ca92cb674004 38 double Global::yaw;
shimogamo 8:ca92cb674004 39 double Global::yawdegree;//controllerの生データ
shimogamo 10:0a4bf8c82493 40 int Global::inttrimyaw;
shimogamo 1:3f857674a290 41 double Global::airspeed;
shimogamo 1:3f857674a290 42 double Global::cadence;
shimogamo 10:0a4bf8c82493 43 double Global::ultsonic;
shimogamo 10:0a4bf8c82493 44 double Global::atmpress;
shimogamo 0:2a15bd367891 45
shimogamo 12:8e39bb45c61c 46 int Global::pitchcnt;
shimogamo 12:8e39bb45c61c 47 int Global::pitchdegreecnt;
shimogamo 12:8e39bb45c61c 48 int Global::inttrimpitchcnt;
shimogamo 12:8e39bb45c61c 49 int Global::yawcnt;
shimogamo 12:8e39bb45c61c 50 int Global::yawdegreecnt;
shimogamo 12:8e39bb45c61c 51 int Global::inttrimyawcnt;
shimogamo 12:8e39bb45c61c 52 int Global::airspeedcnt;
shimogamo 12:8e39bb45c61c 53 int Global::cadencecnt;
shimogamo 12:8e39bb45c61c 54 int Global::ultsoniccnt;
shimogamo 12:8e39bb45c61c 55 int Global::atmpresscnt;
shimogamo 12:8e39bb45c61c 56
shimogamo 4:650af94bf062 57 //----------------どこからでも使えるled,スイッチ,タイマーの一括管理-----------------------------
shimogamo 0:2a15bd367891 58 Timer Global::timer;
shimogamo 0:2a15bd367891 59 DigitalIn Global::initializeswitch(p23,PullUp);//否定で押しているとき
shimogamo 0:2a15bd367891 60 DigitalOut Global::led1(LED1);
shimogamo 0:2a15bd367891 61 DigitalOut Global::led2(LED2);
shimogamo 0:2a15bd367891 62 DigitalOut Global::led3(LED3);
shimogamo 0:2a15bd367891 63 DigitalOut Global::led4(LED4);
shimogamo 6:0d9fa7152934 64 LocalFileSystem Global::local("local");
shimogamo 6:0d9fa7152934 65
shimogamo 0:2a15bd367891 66
shimogamo 5:9a1ec02229dd 67 void Global::initialize(){
shimogamo 6:0d9fa7152934 68 timer.start();
shimogamo 6:0d9fa7152934 69 fileread();
shimogamo 6:0d9fa7152934 70 }
shimogamo 6:0d9fa7152934 71
shimogamo 6:0d9fa7152934 72 void Global::fileread(){
shimogamo 6:0d9fa7152934 73 float a, b, c, d, e, f;
shimogamo 6:0d9fa7152934 74
shimogamo 6:0d9fa7152934 75 FILE* fp = fopen("/local/init.csv", "r");
shimogamo 6:0d9fa7152934 76 if(fp == NULL) {
shimogamo 6:0d9fa7152934 77 filewrite();
shimogamo 6:0d9fa7152934 78 return;
shimogamo 6:0d9fa7152934 79 }
shimogamo 6:0d9fa7152934 80 //1行目
shimogamo 7:6f7bd18ce796 81 fscanf(fp, "%f,%f,%f,%f,%f,%f",&a, &b, &c, &d, &e, &f);
shimogamo 6:0d9fa7152934 82 setneutralpitch(a);
shimogamo 6:0d9fa7152934 83 setmaxpitch(b);
shimogamo 6:0d9fa7152934 84 setminpitch(c);
shimogamo 6:0d9fa7152934 85 setneutralyaw(d);
shimogamo 6:0d9fa7152934 86 setmaxyaw(e);
shimogamo 6:0d9fa7152934 87 setminyaw(f);
shimogamo 8:ca92cb674004 88 //2行目
shimogamo 8:ca92cb674004 89 fscanf(fp, "%f,%f,%f,%f,%f,%f",&a, &b, &c, &d, &e, &f);
shimogamo 8:ca92cb674004 90 setneutralpitchdegree(a);
shimogamo 8:ca92cb674004 91 setmaxpitchdegree(b);
shimogamo 8:ca92cb674004 92 setminpitchdegree(c);
shimogamo 8:ca92cb674004 93 setneutralyawdegree(d);
shimogamo 8:ca92cb674004 94 setmaxyawdegree(e);
shimogamo 8:ca92cb674004 95 setminyawdegree(f);
shimogamo 8:ca92cb674004 96 //3行目
shimogamo 9:d1fc0805ec7d 97 fscanf(fp, "%f,%f,%f,%f,%f",&a, &b, &c, &d, &e);
shimogamo 8:ca92cb674004 98 setmaxpitchplayratio(a);
shimogamo 8:ca92cb674004 99 setminpitchplayratio(b);
shimogamo 8:ca92cb674004 100 setmaxyawplayratio(c);
shimogamo 8:ca92cb674004 101 setminyawplayratio(d);
shimogamo 9:d1fc0805ec7d 102 settrimpitchrate(e);
shimogamo 6:0d9fa7152934 103 fclose(fp);
shimogamo 6:0d9fa7152934 104 }
shimogamo 6:0d9fa7152934 105
shimogamo 6:0d9fa7152934 106 void Global::filewrite(){
shimogamo 6:0d9fa7152934 107 FILE* fp = fopen("/local/init.csv", "w");
shimogamo 6:0d9fa7152934 108 if(fp == NULL) {
shimogamo 6:0d9fa7152934 109 error("Could not open file for write\n");
shimogamo 6:0d9fa7152934 110 }
shimogamo 6:0d9fa7152934 111 fprintf(fp, "%f,%f,%f,%f,%f,%f\n",
shimogamo 6:0d9fa7152934 112 getneutralpitch(),
shimogamo 6:0d9fa7152934 113 getmaxpitch(),
shimogamo 6:0d9fa7152934 114 getminpitch(),
shimogamo 6:0d9fa7152934 115 getneutralyaw(),
shimogamo 6:0d9fa7152934 116 getmaxyaw(),
shimogamo 6:0d9fa7152934 117 getminyaw());
shimogamo 8:ca92cb674004 118 fprintf(fp, "%f,%f,%f,%f,%f,%f\n",
shimogamo 8:ca92cb674004 119 getneutralpitchdegree(),
shimogamo 8:ca92cb674004 120 getmaxpitchdegree(),
shimogamo 8:ca92cb674004 121 getminpitchdegree(),
shimogamo 8:ca92cb674004 122 getneutralyawdegree(),
shimogamo 8:ca92cb674004 123 getmaxyawdegree(),
shimogamo 8:ca92cb674004 124 getminyawdegree());
shimogamo 9:d1fc0805ec7d 125 fprintf(fp, "%f,%f,%f,%f,%f\n",
shimogamo 8:ca92cb674004 126 getmaxpitchplayratio(),
shimogamo 8:ca92cb674004 127 getminpitchplayratio(),
shimogamo 8:ca92cb674004 128 getmaxyawplayratio(),
shimogamo 9:d1fc0805ec7d 129 getminyawplayratio(),
shimogamo 9:d1fc0805ec7d 130 gettrimpitchrate());
shimogamo 8:ca92cb674004 131
shimogamo 6:0d9fa7152934 132 fclose(fp);
shimogamo 5:9a1ec02229dd 133 }
shimogamo 5:9a1ec02229dd 134
shimogamo 1:3f857674a290 135
shimogamo 4:650af94bf062 136 //定数チックな変数
shimogamo 4:650af94bf062 137 double Global::getmaxpitch(){return maxpitch;}
shimogamo 4:650af94bf062 138 double Global::getminpitch(){return minpitch;}
shimogamo 4:650af94bf062 139 double Global::getneutralpitch(){return neutralpitch;}
shimogamo 4:650af94bf062 140 double Global::getmaxyaw(){return maxyaw;}
shimogamo 4:650af94bf062 141 double Global::getminyaw(){return minyaw;}
shimogamo 4:650af94bf062 142 double Global::getneutralyaw(){return neutralyaw;}
shimogamo 4:650af94bf062 143
shimogamo 4:650af94bf062 144 void Global::setmaxpitch(double _maxpitch){maxpitch = _maxpitch;}
shimogamo 4:650af94bf062 145 void Global::setminpitch(double _minpitch){minpitch = _minpitch;}
shimogamo 4:650af94bf062 146 void Global::setneutralpitch(double _neutralpitch){neutralpitch = _neutralpitch;}
shimogamo 4:650af94bf062 147 void Global::setmaxyaw(double _maxyaw){maxyaw = _maxyaw;}
shimogamo 4:650af94bf062 148 void Global::setminyaw(double _minyaw){minyaw = _minyaw;}
shimogamo 4:650af94bf062 149 void Global::setneutralyaw(double _neutralyaw){neutralyaw = _neutralyaw;}
shimogamo 4:650af94bf062 150
shimogamo 4:650af94bf062 151 double Global::getmaxpitchdegree(){return maxpitchdegree;}
shimogamo 4:650af94bf062 152 double Global::getneutralpitchdegree(){return neutralpitchdegree;}
shimogamo 4:650af94bf062 153 double Global::getminpitchdegree(){return minpitchdegree;}
shimogamo 4:650af94bf062 154 double Global::getmaxyawdegree(){return maxyawdegree;}
shimogamo 4:650af94bf062 155 double Global::getneutralyawdegree(){return neutralyawdegree;}
shimogamo 4:650af94bf062 156 double Global::getminyawdegree(){return minyawdegree;}
shimogamo 4:650af94bf062 157
shimogamo 0:2a15bd367891 158 void Global::setmaxpitchdegree(double _maxpitchdegree){maxpitchdegree=_maxpitchdegree;}
shimogamo 0:2a15bd367891 159 void Global::setneutralpitchdegree(double _neutralpitchdegree){neutralpitchdegree=_neutralpitchdegree;}
shimogamo 0:2a15bd367891 160 void Global::setminpitchdegree(double _minpitchdegree){minpitchdegree=_minpitchdegree;}
shimogamo 0:2a15bd367891 161 void Global::setmaxyawdegree(double _maxyawdegree){maxyawdegree=_maxyawdegree;}
shimogamo 0:2a15bd367891 162 void Global::setneutralyawdegree(double _neutralyawdegree){neutralyawdegree=_neutralyawdegree;}
shimogamo 0:2a15bd367891 163 void Global::setminyawdegree(double _minyawdegree){minyawdegree=_minyawdegree;}
shimogamo 4:650af94bf062 164
shimogamo 4:650af94bf062 165
shimogamo 8:ca92cb674004 166 double Global::getmaxpitchplayratio(){return maxpitchplayratio;}
shimogamo 8:ca92cb674004 167 double Global::getminpitchplayratio(){return minpitchplayratio;}
shimogamo 8:ca92cb674004 168 double Global::getmaxyawplayratio(){return maxyawplayratio;}
shimogamo 8:ca92cb674004 169 double Global::getminyawplayratio(){return minyawplayratio;}
shimogamo 8:ca92cb674004 170
shimogamo 8:ca92cb674004 171 void Global::setmaxpitchplayratio(double _maxpitchplayratio){maxpitchplayratio=_maxpitchplayratio;}
shimogamo 8:ca92cb674004 172 void Global::setminpitchplayratio(double _minpitchplayratio){minpitchplayratio=_minpitchplayratio;}
shimogamo 8:ca92cb674004 173 void Global::setmaxyawplayratio(double _maxyawplayratio){maxyawplayratio=_maxyawplayratio;}
shimogamo 8:ca92cb674004 174 void Global::setminyawplayratio(double _minyawplayratio){minyawplayratio=_minyawplayratio;}
shimogamo 8:ca92cb674004 175
shimogamo 9:d1fc0805ec7d 176 double Global::gettrimpitchrate(){return trimpitchrate;}
shimogamo 1:3f857674a290 177
shimogamo 9:d1fc0805ec7d 178 void Global::settrimpitchrate(double _trimpitchrate){trimpitchrate=_trimpitchrate;}
shimogamo 1:3f857674a290 179
shimogamo 1:3f857674a290 180
shimogamo 0:2a15bd367891 181 //変数
shimogamo 1:3f857674a290 182 double Global::getpitch(){return pitch;}
shimogamo 8:ca92cb674004 183 double Global::getpitchdegree(){return pitchdegree;}
shimogamo 10:0a4bf8c82493 184 int Global::getinttrimpitch(){return inttrimpitch;}
shimogamo 1:3f857674a290 185 double Global::getyaw(){return yaw;}
shimogamo 8:ca92cb674004 186 double Global::getyawdegree(){return yawdegree;}
shimogamo 10:0a4bf8c82493 187 int Global::getinttrimyaw(){return inttrimyaw;}
shimogamo 1:3f857674a290 188 double Global::getairspeed(){return airspeed;}
shimogamo 1:3f857674a290 189 double Global::getcadence(){return cadence;}
shimogamo 10:0a4bf8c82493 190 double Global::getultsonic(){return ultsonic;}
shimogamo 10:0a4bf8c82493 191 double Global::getatmpress(){return atmpress;}
shimogamo 10:0a4bf8c82493 192
shimogamo 0:2a15bd367891 193
shimogamo 12:8e39bb45c61c 194 void Global::setpitch(double _pitch){
shimogamo 12:8e39bb45c61c 195 pitch = _pitch;
shimogamo 12:8e39bb45c61c 196 }
shimogamo 12:8e39bb45c61c 197 void Global::setpitchdegree(double _pitchdegree){
shimogamo 12:8e39bb45c61c 198 pitchdegree = _pitchdegree;
shimogamo 12:8e39bb45c61c 199 }
shimogamo 12:8e39bb45c61c 200 void Global::setinttrimpitch(int _inttrimpitch){
shimogamo 12:8e39bb45c61c 201 inttrimpitch = _inttrimpitch;
shimogamo 12:8e39bb45c61c 202 }
shimogamo 12:8e39bb45c61c 203 void Global::setyaw(double _yaw){
shimogamo 12:8e39bb45c61c 204 yaw = _yaw;
shimogamo 12:8e39bb45c61c 205 }
shimogamo 12:8e39bb45c61c 206 void Global::setyawdegree(double _yawdegree){
shimogamo 12:8e39bb45c61c 207 yawdegree = _yawdegree;
shimogamo 12:8e39bb45c61c 208 }
shimogamo 12:8e39bb45c61c 209 void Global::setinttrimyaw(int _inttrimyaw){
shimogamo 12:8e39bb45c61c 210 inttrimyaw = _inttrimyaw;
shimogamo 12:8e39bb45c61c 211 }
shimogamo 12:8e39bb45c61c 212 void Global::setairspeed(double _airspeed){
shimogamo 12:8e39bb45c61c 213 airspeed = _airspeed;
shimogamo 12:8e39bb45c61c 214 }
shimogamo 12:8e39bb45c61c 215 void Global::setcadence(double _cadence){
shimogamo 12:8e39bb45c61c 216 cadence = _cadence;
shimogamo 12:8e39bb45c61c 217 }
shimogamo 12:8e39bb45c61c 218 void Global::setultsonic(double _ultsonic){
shimogamo 12:8e39bb45c61c 219 ultsonic = _ultsonic;
shimogamo 12:8e39bb45c61c 220 }
shimogamo 12:8e39bb45c61c 221 void Global::setatmpress(double _atmpress){
shimogamo 12:8e39bb45c61c 222 atmpress = _atmpress;
shimogamo 12:8e39bb45c61c 223 }
shimogamo 4:650af94bf062 224
shimogamo 10:0a4bf8c82493 225