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Dependencies:   mbed FreeRTOS

HbManager.h@18:5aa48aec9cae, 2018-12-01 (annotated)

Committer:
takeru0x1103
Date:
Sat Dec 01 14:03:08 2018 +0000
Revision:
18:5aa48aec9cae
Parent:
17:f9610f3cfa1b
Child:
19:4b0fe9a5ec38
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Who changed what in which revision?

UserRevisionLine numberNew contents of line
takeru0x1103 16:05b9e44889f1 1 #ifndef __HBMANAGER_H__
takeru0x1103 16:05b9e44889f1 2 #define __HBMANAGER_H__
takeru0x1103 0:ecd925601fc6 3 /////////////////////////////////////////////////////////////////////
takeru0x1103 17:f9610f3cfa1b 4 #include "typedef.h"
takeru0x1103 17:f9610f3cfa1b 5 #include "HbEngine.h"
takeru0x1103 18:5aa48aec9cae 6 #include "HbAttitude.h"
takeru0x1103 18:5aa48aec9cae 7 #include "HbMotor.h"
takeru0x1103 18:5aa48aec9cae 8 #include "Imu.h"
takeru0x1103 17:f9610f3cfa1b 9
takeru0x1103 17:f9610f3cfa1b 10 //ユーザースイッチ(ハンドル)のレジスタ読み値のビットフィールド
takeru0x1103 17:f9610f3cfa1b 11 typedef union{
takeru0x1103 17:f9610f3cfa1b 12 UINT16 w;
takeru0x1103 17:f9610f3cfa1b 13 struct{
takeru0x1103 17:f9610f3cfa1b 14 UCHAR axl_r : 1;
takeru0x1103 17:f9610f3cfa1b 15 UCHAR axl_l : 1;
takeru0x1103 17:f9610f3cfa1b 16 }bf;
takeru0x1103 17:f9610f3cfa1b 17 }typu_USER_SW;
takeru0x1103 0:ecd925601fc6 18
takeru0x1103 17:f9610f3cfa1b 19 /////////////////////////////////////////////////
takeru0x1103 17:f9610f3cfa1b 20 class HbManager{
takeru0x1103 17:f9610f3cfa1b 21 private:
takeru0x1103 18:5aa48aec9cae 22 INT16 motorVal[4] ;//
takeru0x1103 18:5aa48aec9cae 23 UINT16 accelVal[2] ;//
takeru0x1103 18:5aa48aec9cae 24 float nowAngle ;//
takeru0x1103 18:5aa48aec9cae 25 float nowRate ;//
takeru0x1103 18:5aa48aec9cae 26
takeru0x1103 18:5aa48aec9cae 27 HbEngine *eng[2] ;//エンジン制御クラス
takeru0x1103 18:5aa48aec9cae 28 HbAttitude *att ;//姿勢制御クラス
takeru0x1103 18:5aa48aec9cae 29 HbMotor *mot[3] ;//モーター制御クラス
takeru0x1103 18:5aa48aec9cae 30 Imu *imu ;//慣性計測装置
takeru0x1103 17:f9610f3cfa1b 31 public:
takeru0x1103 17:f9610f3cfa1b 32 HbManager();
takeru0x1103 18:5aa48aec9cae 33 void getAttitude();
takeru0x1103 18:5aa48aec9cae 34 void controlAttitude();
takeru0x1103 18:5aa48aec9cae 35 void controlMotor();
takeru0x1103 18:5aa48aec9cae 36
takeru0x1103 17:f9610f3cfa1b 37 void controlEngine();
takeru0x1103 17:f9610f3cfa1b 38 void getUserCommand();
takeru0x1103 17:f9610f3cfa1b 39 };
takeru0x1103 0:ecd925601fc6 40
takeru0x1103 0:ecd925601fc6 41 /////////////////////////////////////////////////////////////////////
takeru0x1103 16:05b9e44889f1 42 #endif