kubtss / Mbed 2 deprecated BIRD2017

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

Dependencies:   mbed-rtos mbed

Global.cpp@13:a8e10a69df45, 2015-11-29 (annotated)

Committer:
shimogamo
Date:
Sun Nov 29 20:44:35 2015 +0000
Revision:
13:a8e10a69df45
Parent:
12:8e39bb45c61c
Child:
16:7e36177b4435
Global?????????????????????Display??XBee?????????????

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 3:e3c41153e5fe 6 //トリムはGlobalで足したほうがいいかも
shimogamo 3:e3c41153e5fe 7
shimogamo 3:e3c41153e5fe 8
shimogamo 12:8e39bb45c61c 9 Queue<char, 20> Global::initqueue;
shimogamo 3:e3c41153e5fe 10 //----------------普段は変動しない変数(定数)------------------------------------------------------
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 0:2a15bd367891 44
shimogamo 13:a8e10a69df45 45 int Global::pitchtime;
shimogamo 13:a8e10a69df45 46 int Global::pitchdegreetime;
shimogamo 13:a8e10a69df45 47 int Global::inttrimpitchtime;
shimogamo 13:a8e10a69df45 48 int Global::yawtime;
shimogamo 13:a8e10a69df45 49 int Global::yawdegreetime;
shimogamo 13:a8e10a69df45 50 int Global::inttrimyawtime;
shimogamo 13:a8e10a69df45 51 int Global::airspeedtime;
shimogamo 13:a8e10a69df45 52 int Global::cadencetime;
shimogamo 13:a8e10a69df45 53 int Global::ultsonictime;
shimogamo 13:a8e10a69df45 54 int Global::atmpresstime;
shimogamo 12:8e39bb45c61c 55
shimogamo 4:650af94bf062 56 //----------------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 57 Timer Global::timer;
shimogamo 0:2a15bd367891 58 DigitalIn Global::initializeswitch(p23,PullUp);//否定で押しているとき
shimogamo 0:2a15bd367891 59 DigitalOut Global::led1(LED1);
shimogamo 0:2a15bd367891 60 DigitalOut Global::led2(LED2);
shimogamo 0:2a15bd367891 61 DigitalOut Global::led3(LED3);
shimogamo 0:2a15bd367891 62 DigitalOut Global::led4(LED4);
shimogamo 6:0d9fa7152934 63 LocalFileSystem Global::local("local");
shimogamo 6:0d9fa7152934 64
shimogamo 0:2a15bd367891 65
shimogamo 5:9a1ec02229dd 66 void Global::initialize(){
shimogamo 6:0d9fa7152934 67 timer.start();
shimogamo 6:0d9fa7152934 68 fileread();
shimogamo 6:0d9fa7152934 69 }
shimogamo 6:0d9fa7152934 70
shimogamo 6:0d9fa7152934 71 void Global::fileread(){
shimogamo 6:0d9fa7152934 72 float a, b, c, d, e, f;
shimogamo 6:0d9fa7152934 73
shimogamo 6:0d9fa7152934 74 FILE* fp = fopen("/local/init.csv", "r");
shimogamo 6:0d9fa7152934 75 if(fp == NULL) {
shimogamo 6:0d9fa7152934 76 filewrite();
shimogamo 6:0d9fa7152934 77 return;
shimogamo 6:0d9fa7152934 78 }
shimogamo 6:0d9fa7152934 79 //1行目
shimogamo 7:6f7bd18ce796 80 fscanf(fp, "%f,%f,%f,%f,%f,%f",&a, &b, &c, &d, &e, &f);
shimogamo 6:0d9fa7152934 81 setneutralpitch(a);
shimogamo 6:0d9fa7152934 82 setmaxpitch(b);
shimogamo 6:0d9fa7152934 83 setminpitch(c);
shimogamo 6:0d9fa7152934 84 setneutralyaw(d);
shimogamo 6:0d9fa7152934 85 setmaxyaw(e);
shimogamo 6:0d9fa7152934 86 setminyaw(f);
shimogamo 8:ca92cb674004 87 //2行目
shimogamo 8:ca92cb674004 88 fscanf(fp, "%f,%f,%f,%f,%f,%f",&a, &b, &c, &d, &e, &f);
shimogamo 8:ca92cb674004 89 setneutralpitchdegree(a);
shimogamo 8:ca92cb674004 90 setmaxpitchdegree(b);
shimogamo 8:ca92cb674004 91 setminpitchdegree(c);
shimogamo 8:ca92cb674004 92 setneutralyawdegree(d);
shimogamo 8:ca92cb674004 93 setmaxyawdegree(e);
shimogamo 8:ca92cb674004 94 setminyawdegree(f);
shimogamo 8:ca92cb674004 95 //3行目
shimogamo 9:d1fc0805ec7d 96 fscanf(fp, "%f,%f,%f,%f,%f",&a, &b, &c, &d, &e);
shimogamo 8:ca92cb674004 97 setmaxpitchplayratio(a);
shimogamo 8:ca92cb674004 98 setminpitchplayratio(b);
shimogamo 8:ca92cb674004 99 setmaxyawplayratio(c);
shimogamo 8:ca92cb674004 100 setminyawplayratio(d);
shimogamo 9:d1fc0805ec7d 101 settrimpitchrate(e);
shimogamo 6:0d9fa7152934 102 fclose(fp);
shimogamo 6:0d9fa7152934 103 }
shimogamo 6:0d9fa7152934 104
shimogamo 6:0d9fa7152934 105 void Global::filewrite(){
shimogamo 6:0d9fa7152934 106 FILE* fp = fopen("/local/init.csv", "w");
shimogamo 6:0d9fa7152934 107 if(fp == NULL) {
shimogamo 6:0d9fa7152934 108 error("Could not open file for write\n");
shimogamo 6:0d9fa7152934 109 }
shimogamo 6:0d9fa7152934 110 fprintf(fp, "%f,%f,%f,%f,%f,%f\n",
shimogamo 6:0d9fa7152934 111 getneutralpitch(),
shimogamo 6:0d9fa7152934 112 getmaxpitch(),
shimogamo 6:0d9fa7152934 113 getminpitch(),
shimogamo 6:0d9fa7152934 114 getneutralyaw(),
shimogamo 6:0d9fa7152934 115 getmaxyaw(),
shimogamo 6:0d9fa7152934 116 getminyaw());
shimogamo 8:ca92cb674004 117 fprintf(fp, "%f,%f,%f,%f,%f,%f\n",
shimogamo 8:ca92cb674004 118 getneutralpitchdegree(),
shimogamo 8:ca92cb674004 119 getmaxpitchdegree(),
shimogamo 8:ca92cb674004 120 getminpitchdegree(),
shimogamo 8:ca92cb674004 121 getneutralyawdegree(),
shimogamo 8:ca92cb674004 122 getmaxyawdegree(),
shimogamo 8:ca92cb674004 123 getminyawdegree());
shimogamo 9:d1fc0805ec7d 124 fprintf(fp, "%f,%f,%f,%f,%f\n",
shimogamo 8:ca92cb674004 125 getmaxpitchplayratio(),
shimogamo 8:ca92cb674004 126 getminpitchplayratio(),
shimogamo 8:ca92cb674004 127 getmaxyawplayratio(),
shimogamo 9:d1fc0805ec7d 128 getminyawplayratio(),
shimogamo 9:d1fc0805ec7d 129 gettrimpitchrate());
shimogamo 8:ca92cb674004 130
shimogamo 6:0d9fa7152934 131 fclose(fp);
shimogamo 5:9a1ec02229dd 132 }
shimogamo 5:9a1ec02229dd 133
shimogamo 1:3f857674a290 134
shimogamo 4:650af94bf062 135 //定数チックな変数
shimogamo 4:650af94bf062 136 double Global::getmaxpitch(){return maxpitch;}
shimogamo 4:650af94bf062 137 double Global::getminpitch(){return minpitch;}
shimogamo 4:650af94bf062 138 double Global::getneutralpitch(){return neutralpitch;}
shimogamo 4:650af94bf062 139 double Global::getmaxyaw(){return maxyaw;}
shimogamo 4:650af94bf062 140 double Global::getminyaw(){return minyaw;}
shimogamo 4:650af94bf062 141 double Global::getneutralyaw(){return neutralyaw;}
shimogamo 4:650af94bf062 142
shimogamo 4:650af94bf062 143 void Global::setmaxpitch(double _maxpitch){maxpitch = _maxpitch;}
shimogamo 4:650af94bf062 144 void Global::setminpitch(double _minpitch){minpitch = _minpitch;}
shimogamo 4:650af94bf062 145 void Global::setneutralpitch(double _neutralpitch){neutralpitch = _neutralpitch;}
shimogamo 4:650af94bf062 146 void Global::setmaxyaw(double _maxyaw){maxyaw = _maxyaw;}
shimogamo 4:650af94bf062 147 void Global::setminyaw(double _minyaw){minyaw = _minyaw;}
shimogamo 4:650af94bf062 148 void Global::setneutralyaw(double _neutralyaw){neutralyaw = _neutralyaw;}
shimogamo 4:650af94bf062 149
shimogamo 4:650af94bf062 150 double Global::getmaxpitchdegree(){return maxpitchdegree;}
shimogamo 4:650af94bf062 151 double Global::getneutralpitchdegree(){return neutralpitchdegree;}
shimogamo 4:650af94bf062 152 double Global::getminpitchdegree(){return minpitchdegree;}
shimogamo 4:650af94bf062 153 double Global::getmaxyawdegree(){return maxyawdegree;}
shimogamo 4:650af94bf062 154 double Global::getneutralyawdegree(){return neutralyawdegree;}
shimogamo 4:650af94bf062 155 double Global::getminyawdegree(){return minyawdegree;}
shimogamo 4:650af94bf062 156
shimogamo 0:2a15bd367891 157 void Global::setmaxpitchdegree(double _maxpitchdegree){maxpitchdegree=_maxpitchdegree;}
shimogamo 0:2a15bd367891 158 void Global::setneutralpitchdegree(double _neutralpitchdegree){neutralpitchdegree=_neutralpitchdegree;}
shimogamo 0:2a15bd367891 159 void Global::setminpitchdegree(double _minpitchdegree){minpitchdegree=_minpitchdegree;}
shimogamo 0:2a15bd367891 160 void Global::setmaxyawdegree(double _maxyawdegree){maxyawdegree=_maxyawdegree;}
shimogamo 0:2a15bd367891 161 void Global::setneutralyawdegree(double _neutralyawdegree){neutralyawdegree=_neutralyawdegree;}
shimogamo 0:2a15bd367891 162 void Global::setminyawdegree(double _minyawdegree){minyawdegree=_minyawdegree;}
shimogamo 4:650af94bf062 163
shimogamo 4:650af94bf062 164
shimogamo 8:ca92cb674004 165 double Global::getmaxpitchplayratio(){return maxpitchplayratio;}
shimogamo 8:ca92cb674004 166 double Global::getminpitchplayratio(){return minpitchplayratio;}
shimogamo 8:ca92cb674004 167 double Global::getmaxyawplayratio(){return maxyawplayratio;}
shimogamo 8:ca92cb674004 168 double Global::getminyawplayratio(){return minyawplayratio;}
shimogamo 8:ca92cb674004 169
shimogamo 8:ca92cb674004 170 void Global::setmaxpitchplayratio(double _maxpitchplayratio){maxpitchplayratio=_maxpitchplayratio;}
shimogamo 8:ca92cb674004 171 void Global::setminpitchplayratio(double _minpitchplayratio){minpitchplayratio=_minpitchplayratio;}
shimogamo 8:ca92cb674004 172 void Global::setmaxyawplayratio(double _maxyawplayratio){maxyawplayratio=_maxyawplayratio;}
shimogamo 8:ca92cb674004 173 void Global::setminyawplayratio(double _minyawplayratio){minyawplayratio=_minyawplayratio;}
shimogamo 8:ca92cb674004 174
shimogamo 9:d1fc0805ec7d 175 double Global::gettrimpitchrate(){return trimpitchrate;}
shimogamo 1:3f857674a290 176
shimogamo 9:d1fc0805ec7d 177 void Global::settrimpitchrate(double _trimpitchrate){trimpitchrate=_trimpitchrate;}
shimogamo 1:3f857674a290 178
shimogamo 1:3f857674a290 179
shimogamo 0:2a15bd367891 180 //変数
shimogamo 1:3f857674a290 181 double Global::getpitch(){return pitch;}
shimogamo 8:ca92cb674004 182 double Global::getpitchdegree(){return pitchdegree;}
shimogamo 10:0a4bf8c82493 183 int Global::getinttrimpitch(){return inttrimpitch;}
shimogamo 1:3f857674a290 184 double Global::getyaw(){return yaw;}
shimogamo 8:ca92cb674004 185 double Global::getyawdegree(){return yawdegree;}
shimogamo 10:0a4bf8c82493 186 int Global::getinttrimyaw(){return inttrimyaw;}
shimogamo 1:3f857674a290 187 double Global::getairspeed(){return airspeed;}
shimogamo 1:3f857674a290 188 double Global::getcadence(){return cadence;}
shimogamo 10:0a4bf8c82493 189 double Global::getultsonic(){return ultsonic;}
shimogamo 10:0a4bf8c82493 190 double Global::getatmpress(){return atmpress;}
shimogamo 10:0a4bf8c82493 191
shimogamo 13:a8e10a69df45 192 int Global::getpitchtime(){return pitchtime;}
shimogamo 13:a8e10a69df45 193 int Global::getpitchdegreetime(){return pitchdegreetime;}
shimogamo 13:a8e10a69df45 194 int Global::getinttrimpitchtime(){return inttrimpitchtime;}
shimogamo 13:a8e10a69df45 195 int Global::getyawtime(){return yawtime;}
shimogamo 13:a8e10a69df45 196 int Global::getyawdegreetime(){return yawdegreetime;}
shimogamo 13:a8e10a69df45 197 int Global::getinttrimyawtime(){return inttrimyawtime;}
shimogamo 13:a8e10a69df45 198 int Global::getairspeedtime(){return airspeedtime;}
shimogamo 13:a8e10a69df45 199 int Global::getcadencetime(){return cadencetime;}
shimogamo 13:a8e10a69df45 200 int Global::getultsonictime(){return ultsonictime;}
shimogamo 13:a8e10a69df45 201 int Global::getatmpresstime(){return atmpresstime;}
shimogamo 13:a8e10a69df45 202
shimogamo 13:a8e10a69df45 203
shimogamo 0:2a15bd367891 204
shimogamo 12:8e39bb45c61c 205 void Global::setpitch(double _pitch){
shimogamo 12:8e39bb45c61c 206 pitch = _pitch;
shimogamo 13:a8e10a69df45 207 pitchtime = timer.read_ms();
shimogamo 12:8e39bb45c61c 208 }
shimogamo 12:8e39bb45c61c 209 void Global::setpitchdegree(double _pitchdegree){
shimogamo 12:8e39bb45c61c 210 pitchdegree = _pitchdegree;
shimogamo 13:a8e10a69df45 211 pitchdegreetime = timer.read_ms();
shimogamo 12:8e39bb45c61c 212 }
shimogamo 12:8e39bb45c61c 213 void Global::setinttrimpitch(int _inttrimpitch){
shimogamo 12:8e39bb45c61c 214 inttrimpitch = _inttrimpitch;
shimogamo 13:a8e10a69df45 215 inttrimpitchtime = timer.read_ms();
shimogamo 12:8e39bb45c61c 216 }
shimogamo 12:8e39bb45c61c 217 void Global::setyaw(double _yaw){
shimogamo 12:8e39bb45c61c 218 yaw = _yaw;
shimogamo 13:a8e10a69df45 219 yawtime = timer.read_ms();
shimogamo 12:8e39bb45c61c 220 }
shimogamo 12:8e39bb45c61c 221 void Global::setyawdegree(double _yawdegree){
shimogamo 12:8e39bb45c61c 222 yawdegree = _yawdegree;
shimogamo 13:a8e10a69df45 223 yawdegreetime = timer.read_ms();
shimogamo 12:8e39bb45c61c 224 }
shimogamo 12:8e39bb45c61c 225 void Global::setinttrimyaw(int _inttrimyaw){
shimogamo 12:8e39bb45c61c 226 inttrimyaw = _inttrimyaw;
shimogamo 13:a8e10a69df45 227 inttrimyawtime = timer.read_ms();
shimogamo 12:8e39bb45c61c 228 }
shimogamo 12:8e39bb45c61c 229 void Global::setairspeed(double _airspeed){
shimogamo 12:8e39bb45c61c 230 airspeed = _airspeed;
shimogamo 13:a8e10a69df45 231 airspeedtime = timer.read_ms();
shimogamo 12:8e39bb45c61c 232 }
shimogamo 12:8e39bb45c61c 233 void Global::setcadence(double _cadence){
shimogamo 12:8e39bb45c61c 234 cadence = _cadence;
shimogamo 13:a8e10a69df45 235 cadencetime = timer.read_ms();
shimogamo 12:8e39bb45c61c 236 }
shimogamo 12:8e39bb45c61c 237 void Global::setultsonic(double _ultsonic){
shimogamo 12:8e39bb45c61c 238 ultsonic = _ultsonic;
shimogamo 13:a8e10a69df45 239 ultsonictime = timer.read_ms();
shimogamo 12:8e39bb45c61c 240 }
shimogamo 12:8e39bb45c61c 241 void Global::setatmpress(double _atmpress){
shimogamo 12:8e39bb45c61c 242 atmpress = _atmpress;
shimogamo 13:a8e10a69df45 243 atmpresstime = timer.read_ms();
shimogamo 12:8e39bb45c61c 244 }