Diff: Global.cpp

Revision:

8:ca92cb674004

Parent:

7:6f7bd18ce796

Child:

9:d1fc0805ec7d

diff -r 6f7bd18ce796 -r ca92cb674004 Global.cpp
--- a/Global.cpp	Sat Oct 10 22:53:05 2015 +0000
+++ b/Global.cpp	Tue Oct 13 13:10:21 2015 +0000
@@ -5,28 +5,36 @@
 
 
 //----------------普段は変動しない変数(定数)------------------------------------------------------
-//サーボのパラメータ（角度(deg)で設定）
+//サーボのパラメータ（角度(deg)で設定）max，minはニュートラルを基準にしている
 double Global::maxpitch = 5.0;
 double Global::minpitch = -5.0;
 double Global::neutralpitch = 0;
 double Global::maxyaw = 30.0;
 double Global::minyaw = -30.0;
 double Global::neutralyaw = 0;
-//ジョイスティックのパラメータ(mbedのAnalogIn値[0,1])
+//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
 double Global::maxpitchdegree = 1.0;
 double Global::minpitchdegree = 0;
 double Global::neutralpitchdegree = 0.5;
 double Global::maxyawdegree = 1.0;
 double Global::minyawdegree = 0;
 double Global::neutralyawdegree = 0.5;
+//ジョイスティックの遊び
+double Global::maxpitchplayratio = 0;
+double Global::minpitchplayratio = 0;
+double Global::maxyawplayratio = 0;
+double Global::minyawplayratio = 0;
+
 
 //----------------周期的に変動する変数------------------------------------------------------
+double Global::pitch;
+double Global::pitchdegree;//controllerの生データ
 double Global::trimpitch;
-double Global::trimyaw;
 double Global::inttrimpitch;
+double Global::yaw;
+double Global::yawdegree;//controllerの生データ
+double Global::trimyaw;
 double Global::inttrimyaw;
-double Global::pitch;
-double Global::yaw;
 double Global::airspeed;
 double Global::cadence;
 double Global::altitude;
@@ -62,6 +70,21 @@
     setneutralyaw(d);
     setmaxyaw(e);
     setminyaw(f);
+    //2行目
+    fscanf(fp, "%f,%f,%f,%f,%f,%f",&a, &b, &c, &d, &e, &f);
+    setneutralpitchdegree(a);
+    setmaxpitchdegree(b);
+    setminpitchdegree(c);
+    setneutralyawdegree(d);
+    setmaxyawdegree(e);
+    setminyawdegree(f);
+    //3行目
+    fscanf(fp, "%f,%f,%f,%f",&a, &b, &c, &d);
+    setmaxpitchplayratio(a);
+    setminpitchplayratio(b);
+    setmaxyawplayratio(c);
+    setminyawplayratio(d);
+
     fclose(fp);
 }
 
@@ -77,6 +100,19 @@
         getneutralyaw(),
         getmaxyaw(),
         getminyaw());
+    fprintf(fp, "%f,%f,%f,%f,%f,%f\n", 
+        getneutralpitchdegree(), 
+        getmaxpitchdegree(),
+        getminpitchdegree(),
+        getneutralyawdegree(),
+        getmaxyawdegree(),
+        getminyawdegree());
+    fprintf(fp, "%f,%f,%f,%f\n", 
+        getmaxpitchplayratio(),
+        getminpitchplayratio(),
+        getmaxyawplayratio(),
+        getminyawplayratio());
+
     fclose(fp);
 }
 
@@ -111,14 +147,26 @@
 void Global::setminyawdegree(double _minyawdegree){minyawdegree=_minyawdegree;}
 
 
+double Global::getmaxpitchplayratio(){return maxpitchplayratio;}
+double Global::getminpitchplayratio(){return minpitchplayratio;}
+double Global::getmaxyawplayratio(){return maxyawplayratio;}
+double Global::getminyawplayratio(){return minyawplayratio;}
+
+void Global::setmaxpitchplayratio(double _maxpitchplayratio){maxpitchplayratio=_maxpitchplayratio;}
+void Global::setminpitchplayratio(double _minpitchplayratio){minpitchplayratio=_minpitchplayratio;}
+void Global::setmaxyawplayratio(double _maxyawplayratio){maxyawplayratio=_maxyawplayratio;}
+void Global::setminyawplayratio(double _minyawplayratio){minyawplayratio=_minyawplayratio;}
+
 
 
 
 //変数
 double Global::getpitch(){return pitch;}
+double Global::getpitchdegree(){return pitchdegree;}
 double Global::gettrimpitch(){return trimpitch;}
 double Global::getinttrimpitch(){return inttrimpitch;}
 double Global::getyaw(){return yaw;}
+double Global::getyawdegree(){return yawdegree;}
 double Global::gettrimyaw(){return trimyaw;}
 double Global::getinttrimyaw(){return inttrimyaw;}
 double Global::getairspeed(){return airspeed;}
@@ -126,9 +174,11 @@
 double Global::getaltitude(){return altitude;}
 
 void Global::setpitch(double _pitch){pitch = _pitch;}
+void Global::setpitchdegree(double _pitchdegree){pitchdegree = _pitchdegree;}
 void Global::settrimpitch(double _trimpitch){trimpitch = _trimpitch;}
 void Global::setinttrimpitch(double _inttrimpitch){inttrimpitch = _inttrimpitch;}
 void Global::setyaw(double _yaw){yaw = _yaw;}
+void Global::setyawdegree(double _yawdegree){yawdegree = _yawdegree;}
 void Global::settrimyaw(double _trimyaw){trimyaw = _trimyaw;}
 void Global::setinttrimyaw(double _inttrimyaw){inttrimyaw = _inttrimyaw;}
 void Global::setairspeed(double _airspeed){airspeed = _airspeed;}