Diff: Global.cpp

Revision:

6:0d9fa7152934

Parent:

5:9a1ec02229dd

Child:

7:6f7bd18ce796

--- a/Global.cpp	Fri Oct 09 14:29:32 2015 +0000
+++ b/Global.cpp	Sat Oct 10 20:16:31 2015 +0000
@@ -38,9 +38,46 @@
 DigitalOut Global::led2(LED2);
 DigitalOut Global::led3(LED3);
 DigitalOut Global::led4(LED4);
+LocalFileSystem Global::local("local"); 
+
 
 void Global::initialize(){
-    
+    timer.start();
+    fileread();
+}
+
+void Global::fileread(){
+    float a, b, c, d, e, f;
+ 
+    FILE* fp = fopen("/local/init.csv", "r");
+    if(fp == NULL) {
+        filewrite();
+        return;
+    }
+    //1行目
+    fscanf( fp, "%f,%f,%f,%f,%f,%f",&a, &b, &c, &d, &e, &f);
+    setneutralpitch(a);
+    setmaxpitch(b);
+    setminpitch(c);
+    setneutralyaw(d);
+    setmaxyaw(e);
+    setminyaw(f);
+    fclose(fp);
+}
+
+void Global::filewrite(){
+    FILE* fp = fopen("/local/init.csv", "w");
+    if(fp == NULL) {
+        error("Could not open file for write\n");
+    }
+    fprintf(fp, "%f,%f,%f,%f,%f,%f\n", 
+        getneutralpitch(), 
+        getmaxpitch(),
+        getminpitch(),
+        getneutralyaw(),
+        getmaxyaw(),
+        getminyaw());
+    fclose(fp);
 }