Dependencies: SimpleMapSerialization serial_communication
communication.cpp
- Committer:
- inst
- Date:
- 2016-04-05
- Revision:
- 6:3b9c479c28d4
- Parent:
- 5:b1573848235e
File content as of revision 6:3b9c479c28d4:
#include "communication.hpp" #include "moving_object.hpp" #include "serial_communication.hpp" #include "mbed_stl.hpp" #include "mbed.h" communication* communication::instance_ = NULL; const int communication::velocity_offset_ = 32767; const float communication::analog_stick_lower_limit_ = 0.2f; //const size_t communication::direction_div_num_ = 8; communication::communication() {} node_system::moving_object::CONTROL_MODE communication::get_mode() const { return node_system::moving_object::MANUAL_MODE; } communication::vector2f communication::get_velocity() const { uint32_t iv[] = { serial_communication::instance()->get("stkLX"), serial_communication::instance()->get("stkLY") }; if ((iv[0] == velocity_offset_) && (iv[1] == velocity_offset_)) { return vector2f(); } vector2f v; // 受信データは [0, 65535] の範囲であるので [-1, 1] に変換する for (uint32_t i = 0; i < 2; ++i) { v[i] = iv[i]; v[i] -= velocity_offset_; v[i] /= velocity_offset_; } /* float p = 2.0f * PI / direction_div_num_; float rad = atan2f(v.y(), v.x()); rad += p * 0.5f; rad /= p; rad *= p; */ if (v.length() > 1.0f) { //v = v.unit(); return v.unit(); } //return v.length() * vector2f(cos(rad), sin(rad)); /* if (v.length() < analog_stick_lower_limit_) { return vector2f(); // しきい値以下なら移動操作無しとみなす } */ return v; } float communication::get_angular_velocity_rad_per_sec() const { return 0.0f; } communication::vector2f communication::get_target_position_mm() const { return vector2f(); } float communication::get_target_heading_rad() const { return 0.0f; }