File content as of revision 3:e3c41153e5fe:

#include "mbed.h"
#include "Global.h"

//トリムはGlobalで足したほうがいいかも


//----------------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;

//----------------周期的に変動する変数------------------------------------------------------
double Global::trimpitch;
double Global::trimyaw;
double Global::inttrimpitch;
double Global::inttrimyaw;
double Global::pitch;
double Global::yaw;
double Global::airspeed;
double Global::cadence;
double Global::altitude;


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;}
//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;}



//変数
double Global::getpitch(){return pitch;}
double Global::gettrimpitch(){return trimpitch;}
double Global::getinttrimpitch(){return inttrimpitch;}
double Global::getyaw(){return yaw;}
double Global::gettrimyaw(){return trimyaw;}
double Global::getinttrimyaw(){return inttrimyaw;}
double Global::getairspeed(){return airspeed;}
double Global::getcadence(){return cadence;}
double Global::getaltitude(){return altitude;}

void Global::setpitch(double _pitch){pitch = _pitch;}
void Global::settrimpitch(double _trimpitch){trimpitch = _trimpitch;}
void Global::setinttrimpitch(double _inttrimpitch){inttrimpitch = _inttrimpitch;}
void Global::setyaw(double _yaw){yaw = _yaw;}
void Global::settrimyaw(double _trimyaw){trimyaw = _trimyaw;}
void Global::setinttrimyaw(double _inttrimyaw){inttrimyaw = _inttrimyaw;}
void Global::setairspeed(double _airspeed){airspeed = _airspeed;}
void Global::setcadence(double _cadence){cadence = _cadence;}
void Global::setaltitude(double _altitude){altitude = _altitude;}