File content as of revision 0:2a15bd367891:

#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();
}