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Dependencies:   mbed-rtos mbed

Global.cpp@26:a53c3208ac35, 2016-07-23 (annotated)

Committer:
shimogamo
Date:
Sat Jul 23 00:50:47 2016 +0000
Revision:
26:a53c3208ac35
Parent:
25:589742cd3137
Child:
31:cef6ee7af014
??OB?????????

Who changed what in which revision?

UserRevisionLine numberNew contents of line
shimogamo 0:2a15bd367891 1 #include "mbed.h"
shimogamo 0:2a15bd367891 2 #include "Global.h"
shimogamo 9:d1fc0805ec7d 3 #include "rtos.h"
shimogamo 9:d1fc0805ec7d 4
shimogamo 3:e3c41153e5fe 5
shimogamo 26:a53c3208ac35 6 //クラスじゃなくてnamespaceのほうが綺麗にかけるかもね
shimogamo 26:a53c3208ac35 7
shimogamo 3:e3c41153e5fe 8
shimogamo 12:8e39bb45c61c 9 Queue<char, 20> Global::initqueue;
shimogamo 25:589742cd3137 10 //----------------普段は変動しない変数------------------------------------------------------
shimogamo 9:d1fc0805ec7d 11 //サーボのパラメータ（角度(度数法)で設定）max，minはニュートラルを基準にしている
shimogamo 4:650af94bf062 12 double Global::maxpitch = 5.0;
shimogamo 4:650af94bf062 13 double Global::minpitch = -5.0;
shimogamo 4:650af94bf062 14 double Global::neutralpitch = 0;
shimogamo 4:650af94bf062 15 double Global::maxyaw = 30.0;
shimogamo 4:650af94bf062 16 double Global::minyaw = -30.0;
shimogamo 4:650af94bf062 17 double Global::neutralyaw = 0;
shimogamo 8:ca92cb674004 18 //ジョイスティックのパラメータ(mbedのAnalogIn値[0,1])/max, min, neu全て[0,1]の絶対的な値をとる
shimogamo 4:650af94bf062 19 double Global::maxpitchdegree = 1.0;
shimogamo 4:650af94bf062 20 double Global::minpitchdegree = 0;
shimogamo 4:650af94bf062 21 double Global::neutralpitchdegree = 0.5;
shimogamo 4:650af94bf062 22 double Global::maxyawdegree = 1.0;
shimogamo 4:650af94bf062 23 double Global::minyawdegree = 0;
shimogamo 4:650af94bf062 24 double Global::neutralyawdegree = 0.5;
shimogamo 9:d1fc0805ec7d 25 //ジョイスティックの遊び([-1,1]でニュートラルを0とした時の値)
shimogamo 8:ca92cb674004 26 double Global::maxpitchplayratio = 0;
shimogamo 8:ca92cb674004 27 double Global::minpitchplayratio = 0;
shimogamo 8:ca92cb674004 28 double Global::maxyawplayratio = 0;
shimogamo 8:ca92cb674004 29 double Global::minyawplayratio = 0;
shimogamo 9:d1fc0805ec7d 30 //トリムの変化率（角度(度数法)で設定）
shimogamo 9:d1fc0805ec7d 31 double Global::trimpitchrate = 0.5;
shimogamo 3:e3c41153e5fe 32
shimogamo 3:e3c41153e5fe 33 //----------------周期的に変動する変数------------------------------------------------------
shimogamo 8:ca92cb674004 34 double Global::pitch;
shimogamo 8:ca92cb674004 35 double Global::pitchdegree;//controllerの生データ
shimogamo 10:0a4bf8c82493 36 int Global::inttrimpitch;
shimogamo 8:ca92cb674004 37 double Global::yaw;
shimogamo 8:ca92cb674004 38 double Global::yawdegree;//controllerの生データ
shimogamo 10:0a4bf8c82493 39 int Global::inttrimyaw;
shimogamo 1:3f857674a290 40 double Global::airspeed;
shimogamo 1:3f857674a290 41 double Global::cadence;
shimogamo 10:0a4bf8c82493 42 double Global::ultsonic;
shimogamo 10:0a4bf8c82493 43 double Global::atmpress;
shimogamo 16:7e36177b4435 44 int Global::selector;
shimogamo 19:c6ad6b453b39 45 double Global::servovolt;
shimogamo 19:c6ad6b453b39 46 double Global::miconvolt;
shimogamo 0:2a15bd367891 47
shimogamo 13:a8e10a69df45 48 int Global::pitchtime;
shimogamo 13:a8e10a69df45 49 int Global::pitchdegreetime;
shimogamo 13:a8e10a69df45 50 int Global::inttrimpitchtime;
shimogamo 13:a8e10a69df45 51 int Global::yawtime;
shimogamo 13:a8e10a69df45 52 int Global::yawdegreetime;
shimogamo 13:a8e10a69df45 53 int Global::inttrimyawtime;
shimogamo 13:a8e10a69df45 54 int Global::airspeedtime;
shimogamo 13:a8e10a69df45 55 int Global::cadencetime;
shimogamo 13:a8e10a69df45 56 int Global::ultsonictime;
shimogamo 13:a8e10a69df45 57 int Global::atmpresstime;
shimogamo 16:7e36177b4435 58 int Global::selectortime;
shimogamo 19:c6ad6b453b39 59 int Global::servovolttime;
shimogamo 19:c6ad6b453b39 60 int Global::miconvolttime;
shimogamo 12:8e39bb45c61c 61
shimogamo 4:650af94bf062 62 //----------------どこからでも使えるled,スイッチ,タイマーの一括管理-----------------------------
shimogamo 0:2a15bd367891 63 Timer Global::timer;
shimogamo 16:7e36177b4435 64 DigitalOut Global::led[] = {LED1,LED2,LED3,LED4};
shimogamo 6:0d9fa7152934 65 LocalFileSystem Global::local("local");
shimogamo 6:0d9fa7152934 66
shimogamo 26:a53c3208ac35 67 //ここでINIT.csvファイルが読み込まれる
shimogamo 5:9a1ec02229dd 68 void Global::initialize(){
shimogamo 6:0d9fa7152934 69 timer.start();
shimogamo 6:0d9fa7152934 70 fileread();
shimogamo 6:0d9fa7152934 71 }
shimogamo 6:0d9fa7152934 72
shimogamo 26:a53c3208ac35 73 //INITファイルの読み込み
shimogamo 6:0d9fa7152934 74 void Global::fileread(){
shimogamo 6:0d9fa7152934 75 float a, b, c, d, e, f;
shimogamo 6:0d9fa7152934 76
shimogamo 6:0d9fa7152934 77 FILE* fp = fopen("/local/init.csv", "r");
shimogamo 6:0d9fa7152934 78 if(fp == NULL) {
shimogamo 6:0d9fa7152934 79 filewrite();
shimogamo 6:0d9fa7152934 80 return;
shimogamo 6:0d9fa7152934 81 }
shimogamo 6:0d9fa7152934 82 //1行目
shimogamo 7:6f7bd18ce796 83 fscanf(fp, "%f,%f,%f,%f,%f,%f",&a, &b, &c, &d, &e, &f);
shimogamo 6:0d9fa7152934 84 setneutralpitch(a);
shimogamo 6:0d9fa7152934 85 setmaxpitch(b);
shimogamo 6:0d9fa7152934 86 setminpitch(c);
shimogamo 6:0d9fa7152934 87 setneutralyaw(d);
shimogamo 6:0d9fa7152934 88 setmaxyaw(e);
shimogamo 6:0d9fa7152934 89 setminyaw(f);
shimogamo 8:ca92cb674004 90 //2行目
shimogamo 8:ca92cb674004 91 fscanf(fp, "%f,%f,%f,%f,%f,%f",&a, &b, &c, &d, &e, &f);
shimogamo 8:ca92cb674004 92 setneutralpitchdegree(a);
shimogamo 8:ca92cb674004 93 setmaxpitchdegree(b);
shimogamo 8:ca92cb674004 94 setminpitchdegree(c);
shimogamo 8:ca92cb674004 95 setneutralyawdegree(d);
shimogamo 8:ca92cb674004 96 setmaxyawdegree(e);
shimogamo 8:ca92cb674004 97 setminyawdegree(f);
shimogamo 8:ca92cb674004 98 //3行目
shimogamo 9:d1fc0805ec7d 99 fscanf(fp, "%f,%f,%f,%f,%f",&a, &b, &c, &d, &e);
shimogamo 8:ca92cb674004 100 setmaxpitchplayratio(a);
shimogamo 8:ca92cb674004 101 setminpitchplayratio(b);
shimogamo 8:ca92cb674004 102 setmaxyawplayratio(c);
shimogamo 8:ca92cb674004 103 setminyawplayratio(d);
shimogamo 9:d1fc0805ec7d 104 settrimpitchrate(e);
shimogamo 6:0d9fa7152934 105 fclose(fp);
shimogamo 6:0d9fa7152934 106 }
shimogamo 6:0d9fa7152934 107
shimogamo 26:a53c3208ac35 108 //INITファイルの書き込み
shimogamo 6:0d9fa7152934 109 void Global::filewrite(){
shimogamo 6:0d9fa7152934 110 FILE* fp = fopen("/local/init.csv", "w");
shimogamo 6:0d9fa7152934 111 if(fp == NULL) {
shimogamo 6:0d9fa7152934 112 error("Could not open file for write\n");
shimogamo 6:0d9fa7152934 113 }
shimogamo 6:0d9fa7152934 114 fprintf(fp, "%f,%f,%f,%f,%f,%f\n",
shimogamo 6:0d9fa7152934 115 getneutralpitch(),
shimogamo 6:0d9fa7152934 116 getmaxpitch(),
shimogamo 6:0d9fa7152934 117 getminpitch(),
shimogamo 6:0d9fa7152934 118 getneutralyaw(),
shimogamo 6:0d9fa7152934 119 getmaxyaw(),
shimogamo 6:0d9fa7152934 120 getminyaw());
shimogamo 8:ca92cb674004 121 fprintf(fp, "%f,%f,%f,%f,%f,%f\n",
shimogamo 8:ca92cb674004 122 getneutralpitchdegree(),
shimogamo 8:ca92cb674004 123 getmaxpitchdegree(),
shimogamo 8:ca92cb674004 124 getminpitchdegree(),
shimogamo 8:ca92cb674004 125 getneutralyawdegree(),
shimogamo 8:ca92cb674004 126 getmaxyawdegree(),
shimogamo 8:ca92cb674004 127 getminyawdegree());
shimogamo 9:d1fc0805ec7d 128 fprintf(fp, "%f,%f,%f,%f,%f\n",
shimogamo 8:ca92cb674004 129 getmaxpitchplayratio(),
shimogamo 8:ca92cb674004 130 getminpitchplayratio(),
shimogamo 8:ca92cb674004 131 getmaxyawplayratio(),
shimogamo 9:d1fc0805ec7d 132 getminyawplayratio(),
shimogamo 9:d1fc0805ec7d 133 gettrimpitchrate());
shimogamo 8:ca92cb674004 134
shimogamo 6:0d9fa7152934 135 fclose(fp);
shimogamo 5:9a1ec02229dd 136 }
shimogamo 5:9a1ec02229dd 137
shimogamo 1:3f857674a290 138
shimogamo 25:589742cd3137 139 //init等で更新される変数
shimogamo 4:650af94bf062 140 double Global::getmaxpitch(){return maxpitch;}
shimogamo 4:650af94bf062 141 double Global::getminpitch(){return minpitch;}
shimogamo 4:650af94bf062 142 double Global::getneutralpitch(){return neutralpitch;}
shimogamo 4:650af94bf062 143 double Global::getmaxyaw(){return maxyaw;}
shimogamo 4:650af94bf062 144 double Global::getminyaw(){return minyaw;}
shimogamo 4:650af94bf062 145 double Global::getneutralyaw(){return neutralyaw;}
shimogamo 4:650af94bf062 146
shimogamo 4:650af94bf062 147 void Global::setmaxpitch(double _maxpitch){maxpitch = _maxpitch;}
shimogamo 4:650af94bf062 148 void Global::setminpitch(double _minpitch){minpitch = _minpitch;}
shimogamo 4:650af94bf062 149 void Global::setneutralpitch(double _neutralpitch){neutralpitch = _neutralpitch;}
shimogamo 4:650af94bf062 150 void Global::setmaxyaw(double _maxyaw){maxyaw = _maxyaw;}
shimogamo 4:650af94bf062 151 void Global::setminyaw(double _minyaw){minyaw = _minyaw;}
shimogamo 4:650af94bf062 152 void Global::setneutralyaw(double _neutralyaw){neutralyaw = _neutralyaw;}
shimogamo 4:650af94bf062 153
shimogamo 4:650af94bf062 154 double Global::getmaxpitchdegree(){return maxpitchdegree;}
shimogamo 4:650af94bf062 155 double Global::getneutralpitchdegree(){return neutralpitchdegree;}
shimogamo 4:650af94bf062 156 double Global::getminpitchdegree(){return minpitchdegree;}
shimogamo 4:650af94bf062 157 double Global::getmaxyawdegree(){return maxyawdegree;}
shimogamo 4:650af94bf062 158 double Global::getneutralyawdegree(){return neutralyawdegree;}
shimogamo 4:650af94bf062 159 double Global::getminyawdegree(){return minyawdegree;}
shimogamo 4:650af94bf062 160
shimogamo 0:2a15bd367891 161 void Global::setmaxpitchdegree(double _maxpitchdegree){maxpitchdegree=_maxpitchdegree;}
shimogamo 0:2a15bd367891 162 void Global::setneutralpitchdegree(double _neutralpitchdegree){neutralpitchdegree=_neutralpitchdegree;}
shimogamo 0:2a15bd367891 163 void Global::setminpitchdegree(double _minpitchdegree){minpitchdegree=_minpitchdegree;}
shimogamo 0:2a15bd367891 164 void Global::setmaxyawdegree(double _maxyawdegree){maxyawdegree=_maxyawdegree;}
shimogamo 0:2a15bd367891 165 void Global::setneutralyawdegree(double _neutralyawdegree){neutralyawdegree=_neutralyawdegree;}
shimogamo 0:2a15bd367891 166 void Global::setminyawdegree(double _minyawdegree){minyawdegree=_minyawdegree;}
shimogamo 4:650af94bf062 167
shimogamo 4:650af94bf062 168
shimogamo 8:ca92cb674004 169 double Global::getmaxpitchplayratio(){return maxpitchplayratio;}
shimogamo 8:ca92cb674004 170 double Global::getminpitchplayratio(){return minpitchplayratio;}
shimogamo 8:ca92cb674004 171 double Global::getmaxyawplayratio(){return maxyawplayratio;}
shimogamo 8:ca92cb674004 172 double Global::getminyawplayratio(){return minyawplayratio;}
shimogamo 8:ca92cb674004 173
shimogamo 8:ca92cb674004 174 void Global::setmaxpitchplayratio(double _maxpitchplayratio){maxpitchplayratio=_maxpitchplayratio;}
shimogamo 8:ca92cb674004 175 void Global::setminpitchplayratio(double _minpitchplayratio){minpitchplayratio=_minpitchplayratio;}
shimogamo 8:ca92cb674004 176 void Global::setmaxyawplayratio(double _maxyawplayratio){maxyawplayratio=_maxyawplayratio;}
shimogamo 8:ca92cb674004 177 void Global::setminyawplayratio(double _minyawplayratio){minyawplayratio=_minyawplayratio;}
shimogamo 8:ca92cb674004 178
shimogamo 9:d1fc0805ec7d 179 double Global::gettrimpitchrate(){return trimpitchrate;}
shimogamo 1:3f857674a290 180
shimogamo 9:d1fc0805ec7d 181 void Global::settrimpitchrate(double _trimpitchrate){trimpitchrate=_trimpitchrate;}
shimogamo 1:3f857674a290 182
shimogamo 1:3f857674a290 183
shimogamo 25:589742cd3137 184 //常に更新される変数
shimogamo 1:3f857674a290 185 double Global::getpitch(){return pitch;}
shimogamo 8:ca92cb674004 186 double Global::getpitchdegree(){return pitchdegree;}
shimogamo 10:0a4bf8c82493 187 int Global::getinttrimpitch(){return inttrimpitch;}
shimogamo 1:3f857674a290 188 double Global::getyaw(){return yaw;}
shimogamo 8:ca92cb674004 189 double Global::getyawdegree(){return yawdegree;}
shimogamo 10:0a4bf8c82493 190 int Global::getinttrimyaw(){return inttrimyaw;}
shimogamo 1:3f857674a290 191 double Global::getairspeed(){return airspeed;}
shimogamo 1:3f857674a290 192 double Global::getcadence(){return cadence;}
shimogamo 10:0a4bf8c82493 193 double Global::getultsonic(){return ultsonic;}
shimogamo 10:0a4bf8c82493 194 double Global::getatmpress(){return atmpress;}
shimogamo 16:7e36177b4435 195 int Global::getselector(){return selector;}
shimogamo 19:c6ad6b453b39 196 double Global::getservovolt(){return servovolt;}
shimogamo 19:c6ad6b453b39 197 double Global::getmiconvolt(){return miconvolt;}
shimogamo 10:0a4bf8c82493 198
shimogamo 13:a8e10a69df45 199 int Global::getpitchtime(){return pitchtime;}
shimogamo 13:a8e10a69df45 200 int Global::getpitchdegreetime(){return pitchdegreetime;}
shimogamo 13:a8e10a69df45 201 int Global::getinttrimpitchtime(){return inttrimpitchtime;}
shimogamo 13:a8e10a69df45 202 int Global::getyawtime(){return yawtime;}
shimogamo 13:a8e10a69df45 203 int Global::getyawdegreetime(){return yawdegreetime;}
shimogamo 13:a8e10a69df45 204 int Global::getinttrimyawtime(){return inttrimyawtime;}
shimogamo 13:a8e10a69df45 205 int Global::getairspeedtime(){return airspeedtime;}
shimogamo 13:a8e10a69df45 206 int Global::getcadencetime(){return cadencetime;}
shimogamo 13:a8e10a69df45 207 int Global::getultsonictime(){return ultsonictime;}
shimogamo 13:a8e10a69df45 208 int Global::getatmpresstime(){return atmpresstime;}
shimogamo 16:7e36177b4435 209 int Global::getselectortime(){return selectortime;}
shimogamo 19:c6ad6b453b39 210 int Global::getservovolttime(){return servovolttime;}
shimogamo 19:c6ad6b453b39 211 int Global::getmiconvolttime(){return miconvolttime;}
shimogamo 13:a8e10a69df45 212
shimogamo 13:a8e10a69df45 213
shimogamo 0:2a15bd367891 214
shimogamo 12:8e39bb45c61c 215 void Global::setpitch(double _pitch){
shimogamo 12:8e39bb45c61c 216 pitch = _pitch;
shimogamo 13:a8e10a69df45 217 pitchtime = timer.read_ms();
shimogamo 12:8e39bb45c61c 218 }
shimogamo 12:8e39bb45c61c 219 void Global::setpitchdegree(double _pitchdegree){
shimogamo 12:8e39bb45c61c 220 pitchdegree = _pitchdegree;
shimogamo 13:a8e10a69df45 221 pitchdegreetime = timer.read_ms();
shimogamo 12:8e39bb45c61c 222 }
shimogamo 12:8e39bb45c61c 223 void Global::setinttrimpitch(int _inttrimpitch){
shimogamo 12:8e39bb45c61c 224 inttrimpitch = _inttrimpitch;
shimogamo 13:a8e10a69df45 225 inttrimpitchtime = timer.read_ms();
shimogamo 12:8e39bb45c61c 226 }
shimogamo 12:8e39bb45c61c 227 void Global::setyaw(double _yaw){
shimogamo 12:8e39bb45c61c 228 yaw = _yaw;
shimogamo 13:a8e10a69df45 229 yawtime = timer.read_ms();
shimogamo 12:8e39bb45c61c 230 }
shimogamo 12:8e39bb45c61c 231 void Global::setyawdegree(double _yawdegree){
shimogamo 12:8e39bb45c61c 232 yawdegree = _yawdegree;
shimogamo 13:a8e10a69df45 233 yawdegreetime = timer.read_ms();
shimogamo 12:8e39bb45c61c 234 }
shimogamo 12:8e39bb45c61c 235 void Global::setinttrimyaw(int _inttrimyaw){
shimogamo 12:8e39bb45c61c 236 inttrimyaw = _inttrimyaw;
shimogamo 13:a8e10a69df45 237 inttrimyawtime = timer.read_ms();
shimogamo 12:8e39bb45c61c 238 }
shimogamo 12:8e39bb45c61c 239 void Global::setairspeed(double _airspeed){
shimogamo 12:8e39bb45c61c 240 airspeed = _airspeed;
shimogamo 13:a8e10a69df45 241 airspeedtime = timer.read_ms();
shimogamo 12:8e39bb45c61c 242 }
shimogamo 12:8e39bb45c61c 243 void Global::setcadence(double _cadence){
shimogamo 12:8e39bb45c61c 244 cadence = _cadence;
shimogamo 13:a8e10a69df45 245 cadencetime = timer.read_ms();
shimogamo 12:8e39bb45c61c 246 }
shimogamo 12:8e39bb45c61c 247 void Global::setultsonic(double _ultsonic){
shimogamo 12:8e39bb45c61c 248 ultsonic = _ultsonic;
shimogamo 13:a8e10a69df45 249 ultsonictime = timer.read_ms();
shimogamo 12:8e39bb45c61c 250 }
shimogamo 12:8e39bb45c61c 251 void Global::setatmpress(double _atmpress){
shimogamo 12:8e39bb45c61c 252 atmpress = _atmpress;
shimogamo 13:a8e10a69df45 253 atmpresstime = timer.read_ms();
shimogamo 12:8e39bb45c61c 254 }
shimogamo 16:7e36177b4435 255 void Global::setselector(int _selector){
shimogamo 16:7e36177b4435 256 selector = _selector;
shimogamo 16:7e36177b4435 257 selectortime = timer.read_ms();
shimogamo 16:7e36177b4435 258 }
shimogamo 19:c6ad6b453b39 259 void Global::setservovolt(double _servovolt){
shimogamo 19:c6ad6b453b39 260 servovolt = _servovolt;
shimogamo 19:c6ad6b453b39 261 servovolttime = timer.read_ms();
shimogamo 19:c6ad6b453b39 262 }
shimogamo 19:c6ad6b453b39 263 void Global::setmiconvolt(double _miconvolt){
shimogamo 19:c6ad6b453b39 264 miconvolt = _miconvolt;
shimogamo 19:c6ad6b453b39 265 miconvolttime = timer.read_ms();
shimogamo 19:c6ad6b453b39 266 }