Diff: Global.cpp

Revision:

4:650af94bf062

Parent:

3:e3c41153e5fe

Child:

5:9a1ec02229dd

--- a/Global.cpp	Tue Sep 29 16:03:01 2015 +0000
+++ b/Global.cpp	Tue Sep 29 18:23:29 2015 +0000
@@ -5,25 +5,20 @@
 
 
 //----------------普段は変動しない変数(定数)------------------------------------------------------
-//この値を尾翼の可動角にするとデバッグがしやすくなる
-int Global::maxpitch = 10;
-int Global::minpitch = -10;
-int Global::maxyaw = 10;
-int Global::minyaw = -10;
-//サーボの可動角調整
-float Global::maxrudderangle = 30.0;
-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 = 5.0;
-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::neutralrudderangle;
-double Global::neutralelevatorangle;
-//ジョイスティックのパラメータ
-double Global::neutralpitchdegree;
-double Global::neutralyawdegree;
-double Global::maxpitchdegree;
-double Global::minpitchdegree;
-double Global::maxyawdegree;
-double Global::minyawdegree;
+//サーボのパラメータ（角度(deg)で設定）
+double Global::maxpitch = 5.0;
+double Global::minpitch = -5.0;
+double Global::neutralpitch = 0;
+double Global::maxyaw = 30.0;
+double Global::minyaw = -30.0;
+double Global::neutralyaw = 0;
+//ジョイスティックのパラメータ(mbedのAnalogIn値[0,1])
+double Global::maxpitchdegree = 1.0;
+double Global::minpitchdegree = 0;
+double Global::neutralpitchdegree = 0.5;
+double Global::maxyawdegree = 1.0;
+double Global::minyawdegree = 0;
+double Global::neutralyawdegree = 0.5;
 
 //----------------周期的に変動する変数------------------------------------------------------
 double Global::trimpitch;
@@ -36,7 +31,7 @@
 double Global::cadence;
 double Global::altitude;
 
-
+//----------------どこからでも使えるled,スイッチ,タイマーの一括管理-----------------------------
 Timer Global::timer;
 DigitalIn Global::initializeswitch(p23,PullUp);//否定で押しているとき
 DigitalOut Global::led1(LED1);
@@ -45,24 +40,36 @@
 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;}
-//初期化される定数
+//定数チックな変数
+double Global::getmaxpitch(){return maxpitch;}
+double Global::getminpitch(){return minpitch;}
+double Global::getneutralpitch(){return neutralpitch;}
+double Global::getmaxyaw(){return maxyaw;}
+double Global::getminyaw(){return minyaw;}
+double Global::getneutralyaw(){return neutralyaw;}
+
+void Global::setmaxpitch(double _maxpitch){maxpitch = _maxpitch;}
+void Global::setminpitch(double _minpitch){minpitch = _minpitch;}
+void Global::setneutralpitch(double _neutralpitch){neutralpitch = _neutralpitch;}
+void Global::setmaxyaw(double _maxyaw){maxyaw = _maxyaw;}
+void Global::setminyaw(double _minyaw){minyaw = _minyaw;}
+void Global::setneutralyaw(double _neutralyaw){neutralyaw = _neutralyaw;}
+
+double Global::getmaxpitchdegree(){return maxpitchdegree;}
+double Global::getneutralpitchdegree(){return neutralpitchdegree;}
+double Global::getminpitchdegree(){return minpitchdegree;}
+double Global::getmaxyawdegree(){return maxyawdegree;}
+double Global::getneutralyawdegree(){return neutralyawdegree;}
+double Global::getminyawdegree(){return minyawdegree;}
+
 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;}
+
+
 
 
 
@@ -86,3 +93,4 @@
 void Global::setairspeed(double _airspeed){airspeed = _airspeed;}
 void Global::setcadence(double _cadence){cadence = _cadence;}
 void Global::setaltitude(double _altitude){altitude = _altitude;}
+