teamALI / Mbed 2 deprecated HB2018

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Dependencies:   mbed FreeRTOS

HbManager.h

Committer:
MasashiNomura
Date:
2018-12-10
Revision:
24:c5945aaae777
Parent:
23:79e20be4bc5b
Child:
25:f3a6e7eec9c3

File content as of revision 24:c5945aaae777:

#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

    //INT16       motVal;     // モーターチェック用モーター値
    //short       motNum;     // モーターチェック用モーター番号

public:
    HbManager();
    void getAttitude();
    void controlAttitude();
    void controlAttitude(float cmdAngle);
    void setAttPara(typPidPara para);
    void controlMotor();
    //void initChkMotor();
    //bool chkMotor();
    void controlEngine();
    void getUserCommand();

    bool chkOverIDLE();
    bool chkInRangeIDLE();
    bool chkSWUserOpe(HbUserOpe::SW_TYPE stype);
    bool chkSWUserOpeAny();
    typUserSw getUserSw();
};

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