File content as of revision 3:e3c41153e5fe:

#include "mbed.h"
#include "Trim.h"
#include "Global.h"
//PullUpに注意
Trim::Trim(PinName upsw, PinName downsw, PinName modesw) 
: _upsw(upsw), _downsw(downsw), _modesw(modesw){
    
    _upsw.mode(PullUp);
    _downsw.mode(PullUp);
    _modesw.mode(PullUp);
    
    upswstatus = 1;
    downswstatus = 1;
    
    pitchrate = 0.5;
    maxmoderate = 1.38;
    moderate = -maxmoderate;
    
    _ticker_trim.attach(this,&Trim::modechanger,0.1);//トリムモードの急激変化緩和用の定周期割り込み

}


void Trim::initialize(){
    //pitchrateとmaxmoderateの調整
}

void Trim::pitchup(){
    trimpitch--;
    clamp(trimpitch,-7,7);
    printf("trimpitch = %d\n",trimpitch);
}

void Trim::pitchdown(){
    trimpitch++;
    clamp(trimpitch,-7,7);
    printf("trimpitch = %d\n",trimpitch);
}

void Trim::clamp(int &value, int min, int max){
    if(value < min) {
        value = min;
    } else if(value > max) {
        value = max;
    }
}

void Trim::clamp(double &value, double min, double max){
    if(value < min) {
        value = min;
    } else if(value > max) {
        value = max;
    }
}


double Trim::calc(int trimpitch, bool trimmode){
    return (double)trimpitch*pitchrate + moderate;
}

//16年度は多分使わない
void Trim::modechanger(){
    if(_modesw == 0){//moderate急激変化の緩和
        moderate += 0.1;//1回あたりの変化量
    }else{
        moderate -= 0.1;//1回あたりの変化量
    }
    clamp(moderate, -maxmoderate, 0);
}
    

void Trim::update(){
    if(_upsw == 0){
        upswstatus = 0;
    }else if((_upsw == 1)&&(upswstatus == 0)){
        pitchup();
        upswstatus = 1;
    }
    
    if(_downsw == 0){
        downswstatus = 0;
    }else if((_downsw == 1)&&(downswstatus == 0)){
        pitchdown();
        downswstatus = 1;
    }
        
    Global::settrimpitch(calc(trimpitch,_modesw.read()));
    Global::setinttrimpitch(trimpitch);
    
}