Diff: Global.cpp

Revision:

0:2a15bd367891

Child:

1:3f857674a290

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Global.cpp	Mon Sep 07 01:19:55 2015 +0000
@@ -0,0 +1,122 @@
+#include "mbed.h"
+#include "Global.h"
+int Global::maxpitch = 10;//
+int Global::minpitch = -10;//
+int Global::Global::maxyaw = 10;//
+int Global::minyaw = -10;//
+float Global::maxrudderangle = 600.0;//係数変更でサーボ稼働幅調整
+float Global::minrudderangle = -maxrudderangle;//別の値を入れたら非対称にしたりもできる
+float Global::maxelevatorangle = 900.0;//係数変更でサーボ稼働幅調整
+float Global::minelevatorangle = -maxelevatorangle;//別の値を入れたら非対称にしたりもできる
+double Global::neutralpitchdegree;
+double Global::neutralyawdegree;
+double Global::maxpitchdegree;
+double Global::minpitchdegree;
+double Global::maxyawdegree;
+double Global::minyawdegree;
+double Global::neutralrudderangle;
+double Global::neutralelevatorangle;
+double Global::trimpitch;
+double Global::trimyaw;
+double Global::inttrimpitch;
+double Global::inttrimyaw;
+std::vector<double> Global::_pitch;
+std::vector<double> Global::_yaw;
+std::vector<double> Global::_airspeed;
+std::vector<double> Global::_cadence;
+std::vector<double> Global::_altitude;
+//double Global::_pitch;
+//double Global::_yaw;
+
+void Global::initialize(){
+}
+
+Timer Global::timer;
+DigitalIn Global::initializeswitch(p23,PullUp);//否定で押しているとき
+DigitalOut Global::led1(LED1);
+DigitalOut Global::led2(LED2);
+DigitalOut Global::led3(LED3);
+DigitalOut Global::led4(LED4);
+
+//固定定数
+int Global::getmaxpitch(){return maxpitch;}
+int Global::getminpitch(){return minpitch;}
+int Global::getmaxyaw(){return maxyaw;}
+int Global::getminyaw(){return minyaw;}
+float Global::getmaxrudderangle(){return maxrudderangle;}
+float Global::getminrudderangle(){return minrudderangle;}
+float Global::getmaxelevatorangle(){return maxelevatorangle;}
+float Global::getminelevatorangle(){return minelevatorangle;}
+double Global::gettrimpitch(){return trimpitch;}
+double Global::gettrimyaw(){return trimyaw;}
+double Global::getinttrimpitch(){return inttrimpitch;}
+double Global::getinttrimyaw(){return inttrimyaw;}
+//初期化される定数
+void Global::setmaxpitchdegree(double _maxpitchdegree){maxpitchdegree=_maxpitchdegree;}
+void Global::setneutralpitchdegree(double _neutralpitchdegree){neutralpitchdegree=_neutralpitchdegree;}
+void Global::setminpitchdegree(double _minpitchdegree){minpitchdegree=_minpitchdegree;}
+void Global::setmaxyawdegree(double _maxyawdegree){maxyawdegree=_maxyawdegree;}
+void Global::setneutralyawdegree(double _neutralyawdegree){neutralyawdegree=_neutralyawdegree;}
+void Global::setminyawdegree(double _minyawdegree){minyawdegree=_minyawdegree;}
+void Global::setneutralrudderangle(double _neutralrudderangle){neutralrudderangle=_neutralrudderangle;}
+void Global::setneutralelevatorangle(double _neutralelevatorangle){neutralelevatorangle=_neutralelevatorangle;}
+void Global::settrimpitch(double _trimpitch){trimpitch = _trimpitch;}
+void Global::settrimyaw(double _trimyaw){trimyaw = _trimyaw;}
+void Global::setinttrimpitch(double _inttrimpitch){inttrimpitch = _inttrimpitch;}
+void Global::setinttrimyaw(double _inttrimyaw){inttrimyaw = _inttrimyaw;}
+//変数
+void Global::setpitch(double pitch){
+    if(_pitch.size()>100)_pitch.clear();
+    _pitch.push_back(pitch);
+}
+void Global::setyaw(double yaw){
+    if(_yaw.size()>100)_yaw.clear();
+    _yaw.push_back(yaw);
+}
+void Global::setairspeed(double airspeed){
+    if(_airspeed.size()>100)_airspeed.clear();
+    _airspeed.push_back(airspeed);
+}
+void Global::setcadence(double cadence){
+    if(_cadence.size()>100)_cadence.clear();
+    _cadence.push_back(cadence);
+}
+void Global::setaltitude(double altitude){
+    if(_altitude.size()>100)_altitude.clear();
+    _altitude.push_back(altitude);
+}
+double Global::getpitch(){
+//    writeonpc("pitch=%f\t",_pitch.back());
+    return _pitch.back();
+}
+double Global::getyaw(){
+//    writeonpc("yaw=%f\r\n",_yaw.back());
+    return _yaw.back();
+}
+double Global::getairspeed(){
+//    writeonpc("airspeed=%f\r\n",_airspeed.back());
+    return _airspeed.back();
+}
+double Global::getcadence(){
+//    writeonpc("cadence=%f\r\n",_cadence.back());
+    return _cadence.back();
+}
+double Global::getaltitude(){
+//    writeonpc("altitude=%f\r\n",_altitude.back());
+    return _altitude.back();
+}
+
+void Global::store(std::vector<double> &pitch, std::vector<double> &yaw, 
+     std::vector<double> &airspeed, std::vector<double> &cadence, std::vector<double> &altitude){
+    copy(_pitch.begin(), _pitch.end(), back_inserter(pitch));
+    copy(_yaw.begin(), _yaw.end(), back_inserter(yaw));
+    copy(_airspeed.begin(), _airspeed.end(), back_inserter(airspeed));
+    copy(_cadence.begin(), _cadence.end(), back_inserter(cadence));
+    copy(_altitude.begin(), _altitude.end(), back_inserter(altitude));
+    
+    _pitch.clear();
+    _yaw.clear();
+    _airspeed.clear();
+    _cadence.clear();
+    _altitude.clear();
+}