teamALI / Mbed 2 deprecated HB2018

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Dependencies:   mbed FreeRTOS

HbManager.h

Committer:
MasashiNomura
Date:
2018-12-06
Revision:
22:24c9c2dedca9
Parent:
21:78302ecdb661
Child:
23:79e20be4bc5b

File content as of revision 22:24c9c2dedca9:

#ifndef __HBMANAGER_H__
#define __HBMANAGER_H__
/////////////////////////////////////////////////////////////////////
#include "typedef.h"
#include "HbEngine.h"
#include "HbAttitude.h"
#include "HbMotor.h"
#include "Imu.h"
#include "HbUserOpe.h"




/////////////////////////////////////////////////
class HbManager{
private:
    INT16       motorVal[4] ;//
    UINT16      accelVal[2] ;//
    float       nowAngle    ;//現在ヨー角
    float       nowRate     ;//現在加速度
    typUserSw   usrSW       ;//ユーザー操作SW
    //メンバクラス
    HbEngine    *eng[2]     ;//エンジン制御クラス
    HbAttitude  *att        ;//姿勢制御クラス
    HbMotor     *mot[4]     ;//モーター制御クラス
    Imu         *imu        ;//慣性計測装置

    HbUserOpe   *ope        ;//ユーザー操作

public:
    HbManager();
    void getAttitude();
    void controlAttitude();
    void controlMotor();
    void controlEngine();
    void getUserCommand();
};

/////////////////////////////////////////////////////////////////////
#endif