Diff: Control/ControllerManager.cpp

Revision:

20:6fbf1f50abda

Parent:

12:8e39bb45c61c

Child:

26:a53c3208ac35

diff -r c6ad6b453b39 -r 6fbf1f50abda Control/ControllerManager.cpp
--- a/Control/ControllerManager.cpp	Wed May 11 03:02:10 2016 +0000
+++ b/Control/ControllerManager.cpp	Mon May 30 07:19:34 2016 +0000
@@ -1,7 +1,6 @@
 #include "mbed.h"
 #include "Global.h"
 #include "ControllerManager.h"
-#include "Joystick.h"
 #include "Trim.h"
 
 /*
@@ -12,7 +11,7 @@
 
 
 ControllerManager::ControllerManager(PinName h, PinName v, PinName hTrimup, PinName hTrimdown)
-    : controller(NC, h, v), pitchtrim(hTrimup, hTrimdown){
+    : controllerH(h), controllerV(v), pitchtrim(hTrimup, hTrimdown){
     maxpitch = Global::getmaxpitch();
     minpitch = Global::getminpitch();
     maxyaw = Global::getmaxyaw();
@@ -60,8 +59,8 @@
     
     Global::setpitch(getpitch());
     Global::setyaw(getyaw());
-    Global::setpitchdegree(controller.getV());//生データであることに注意
-    Global::setyawdegree(controller.getH());//生データであることに注意
+    Global::setpitchdegree(controllerV.read());//生データであることに注意
+    Global::setyawdegree(controllerH.read());//生データであることに注意
     Global::setinttrimpitch(pitchtrim.getint());
 }
 
@@ -78,19 +77,20 @@
         return value;
     }
 }
+
 //ニュートラル基準でピッチ、ヨーとも[-1,1]となるような値を返す(neutraldegreeの値をとったとき0を返す)
 double ControllerManager::pitchratio(){
-    if(controller.getV() < neutralpitchdegree){
-        return clamp((controller.getV() - neutralpitchdegree) / (neutralpitchdegree - minpitchdegree), -1, 0);
+    if(controllerV.read() < neutralpitchdegree){
+        return clamp((controllerV.read() - neutralpitchdegree) / (neutralpitchdegree - minpitchdegree), -1, 0);
     }else{
-        return clamp((controller.getV() - neutralpitchdegree) / (maxpitchdegree - neutralpitchdegree), 0, 1);
+        return clamp((controllerV.read() - neutralpitchdegree) / (maxpitchdegree - neutralpitchdegree), 0, 1);
     }
 }
 double ControllerManager::yawratio(){
-    if(controller.getH() < neutralyawdegree){
-        return clamp((controller.getH() - neutralyawdegree) / (neutralyawdegree - minyawdegree), -1, 0);
+    if(controllerH.read() < neutralyawdegree){
+        return clamp((controllerH.read() - neutralyawdegree) / (neutralyawdegree - minyawdegree), -1, 0);
     }else{
-        return clamp((controller.getH() - neutralyawdegree) / (maxyawdegree - neutralyawdegree), 0, 1);
+        return clamp((controllerH.read() - neutralyawdegree) / (maxyawdegree - neutralyawdegree), 0, 1);
     }
 }
 
@@ -147,7 +147,7 @@
 
 
 //ここでtrim値を加える
-double ControllerManager::getpitch(){
+double ControllerManager::getpitch(){//trim値を加えた結果maxminを超えないようにclamp
     return clamp(doublepitch(pitchratio())+pitchtrim.get(Global::gettrimpitchrate()), minpitch, maxpitch);
 }
 double ControllerManager::getyaw(){