Diff: communication.cpp

Revision:

0:8b0edcbd3b87

Child:

2:074942a78af1

diff -r 000000000000 -r 8b0edcbd3b87 communication.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/communication.cpp	Thu Mar 31 04:43:01 2016 +0000
@@ -0,0 +1,70 @@
+#include "communication.hpp"
+#include "moving_object.hpp"
+#include "serial_communication.hpp"
+
+#include "mbed_stl.hpp"
+
+
+#include "mbed.h"
+
+communication* communication::instance_ = NULL;
+
+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_data("stkLX"),
+        serial_communication::instance()->get_data("stkLY")
+    };
+    
+    // 受信データは [0, 65535] の範囲であるので [-1, 1] に変換する
+    int offset = 32767;
+    
+    if ((iv[0] == offset) && (iv[1] == offset)) {
+        return vector2f();
+    }
+    
+    vector2f v;
+    
+    for (uint32_t i = 0; i < 2; ++i) {
+        v[i] = iv[i];
+        v[i] -= offset;
+        v[i] /= offset;
+        /*
+        switch(iv[i]) {
+            case 0:
+                v[i] = 0.0f;
+                break;
+                
+            case 1:
+                v[i] = 1.0f;
+                
+                break;
+                
+            case 2:
+                v[i] = -1.0f;
+                break;
+        }
+        */
+    }
+    
+    if (v.length() > 1.0f) {
+        return ;
+    }
+    
+    /*
+    vector2f velocity = v.unit();
+    return velocity;
+    */
+}
+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;
+}