Peter Knoben / MovementClean

Working, Clean

Fork of Movement by Dustin Berendsen

Movement.cpp@1:03e2651b4a24, 2017-11-01 (annotated)

Committer:
peterknoben
Date:
Wed Nov 01 11:46:48 2017 +0000
Revision:
1:03e2651b4a24
Parent:
0:9c61094ffaac
Child:
2:43a6498000e8
f

Who changed what in which revision?

UserRevisionLine numberNew contents of line
peterknoben 0:9c61094ffaac 1 #include "Movement.h"
peterknoben 0:9c61094ffaac 2 #include "mbed.h"
peterknoben 0:9c61094ffaac 3
peterknoben 0:9c61094ffaac 4 float movement;
peterknoben 0:9c61094ffaac 5
peterknoben 0:9c61094ffaac 6 Movement::Movement(void)
peterknoben 0:9c61094ffaac 7 {
peterknoben 0:9c61094ffaac 8
peterknoben 0:9c61094ffaac 9 }
peterknoben 0:9c61094ffaac 10
peterknoben 0:9c61094ffaac 11 int * Movement::getdirection(int mode){
peterknoben 0:9c61094ffaac 12 //int *getdirection(int direction[2]){
peterknoben 0:9c61094ffaac 13 static int direction[2];
peterknoben 0:9c61094ffaac 14 if(mode==1){
peterknoben 0:9c61094ffaac 15 direction[0]=1;
peterknoben 0:9c61094ffaac 16 direction[1]=1;
peterknoben 0:9c61094ffaac 17 }
peterknoben 0:9c61094ffaac 18 else if(mode==2){
peterknoben 0:9c61094ffaac 19 direction[0]=1;
peterknoben 0:9c61094ffaac 20 direction[1]=-1;
peterknoben 0:9c61094ffaac 21 }
peterknoben 0:9c61094ffaac 22 else if(mode==3){
peterknoben 1:03e2651b4a24 23 direction[0]=0;
peterknoben 1:03e2651b4a24 24 direction[1]=0;
peterknoben 0:9c61094ffaac 25 }
peterknoben 0:9c61094ffaac 26 else if(mode==4){
peterknoben 0:9c61094ffaac 27 direction[0]=-1;
peterknoben 0:9c61094ffaac 28 direction[1]=-1;
peterknoben 0:9c61094ffaac 29 }
peterknoben 0:9c61094ffaac 30 else if(mode==5){
peterknoben 0:9c61094ffaac 31 direction[0]=-1;
peterknoben 0:9c61094ffaac 32 direction[1]=1;
peterknoben 0:9c61094ffaac 33 }
peterknoben 0:9c61094ffaac 34 else if(mode==6){
peterknoben 1:03e2651b4a24 35 direction[0]=0;
peterknoben 1:03e2651b4a24 36 direction[1]=0;
peterknoben 0:9c61094ffaac 37 }
peterknoben 0:9c61094ffaac 38 else{
peterknoben 0:9c61094ffaac 39 //Error, unavailable mode
peterknoben 0:9c61094ffaac 40 }
peterknoben 0:9c61094ffaac 41 return direction;
peterknoben 0:9c61094ffaac 42 }
peterknoben 0:9c61094ffaac 43
peterknoben 0:9c61094ffaac 44
peterknoben 0:9c61094ffaac 45 float Movement::getposition(int SignalNumber, int mode, int side, float max_range){
peterknoben 0:9c61094ffaac 46 static float position; //Define a position array
peterknoben 0:9c61094ffaac 47 int *direction_math; //Define a useable direction array in this function
peterknoben 0:9c61094ffaac 48 direction_math = getdirection(mode); //Fill the useable direction array
peterknoben 0:9c61094ffaac 49 float position_math;
peterknoben 0:9c61094ffaac 50 switch(SignalNumber){
peterknoben 0:9c61094ffaac 51 case 1: //Move slowest
peterknoben 0:9c61094ffaac 52 movement = direction_math[side] *1;
peterknoben 0:9c61094ffaac 53 position_math = position + movement;
peterknoben 0:9c61094ffaac 54 if (position_math >= max_range && position_math <=0){
peterknoben 0:9c61094ffaac 55 position = position;
peterknoben 0:9c61094ffaac 56 }
peterknoben 0:9c61094ffaac 57 else{
peterknoben 0:9c61094ffaac 58 position += movement;
peterknoben 0:9c61094ffaac 59 }
peterknoben 0:9c61094ffaac 60 break;
peterknoben 0:9c61094ffaac 61 case 2: //Move slow
peterknoben 0:9c61094ffaac 62 movement = direction_math[side] *2;
peterknoben 0:9c61094ffaac 63 position_math = position + movement;
peterknoben 0:9c61094ffaac 64 if (position_math >= max_range && position_math <=0){
peterknoben 0:9c61094ffaac 65 position = position;
peterknoben 0:9c61094ffaac 66 }
peterknoben 0:9c61094ffaac 67 else{
peterknoben 0:9c61094ffaac 68 position += movement;
peterknoben 0:9c61094ffaac 69 }
peterknoben 0:9c61094ffaac 70 break;
peterknoben 0:9c61094ffaac 71 case 3: //Move fast
peterknoben 0:9c61094ffaac 72 movement = direction_math[side] *5;
peterknoben 0:9c61094ffaac 73 position_math = position + movement;
peterknoben 0:9c61094ffaac 74 if (position_math >= max_range && position_math <=0){
peterknoben 0:9c61094ffaac 75 position = position;
peterknoben 0:9c61094ffaac 76 }
peterknoben 0:9c61094ffaac 77 else{
peterknoben 0:9c61094ffaac 78 position += movement;
peterknoben 0:9c61094ffaac 79 }
peterknoben 0:9c61094ffaac 80 break;
peterknoben 0:9c61094ffaac 81 case 4: //Move fastest
peterknoben 0:9c61094ffaac 82 movement = direction_math[side] *10;
peterknoben 0:9c61094ffaac 83 position_math = position + movement;
peterknoben 0:9c61094ffaac 84 if (position_math >= max_range && position_math <=0){
peterknoben 0:9c61094ffaac 85 position = position;
peterknoben 0:9c61094ffaac 86 }
peterknoben 0:9c61094ffaac 87 else{
peterknoben 0:9c61094ffaac 88 position += movement;
peterknoben 0:9c61094ffaac 89 }
peterknoben 0:9c61094ffaac 90 break;
peterknoben 0:9c61094ffaac 91 default : //if something is wrong or no muscles are flexed, standstill
peterknoben 0:9c61094ffaac 92 position = position;
peterknoben 0:9c61094ffaac 93 break;
peterknoben 0:9c61094ffaac 94 }
peterknoben 0:9c61094ffaac 95 return position;
peterknoben 0:9c61094ffaac 96 }
peterknoben 0:9c61094ffaac 97
peterknoben 0:9c61094ffaac 98
peterknoben 0:9c61094ffaac 99
peterknoben 0:9c61094ffaac 100
peterknoben 0:9c61094ffaac 101
peterknoben 0:9c61094ffaac 102 /*
peterknoben 0:9c61094ffaac 103 float *Movement::getposition(int SignalNumber, int mode){
peterknoben 0:9c61094ffaac 104 static float position[2]; //Define a position array
peterknoben 0:9c61094ffaac 105 int *direction_math; //Define a useable direction array in this function
peterknoben 0:9c61094ffaac 106 direction_math = getdirection(mode); //Fill the useable direction array
peterknoben 0:9c61094ffaac 107 switch(SignalNumber){
peterknoben 0:9c61094ffaac 108 case 1: //Move slowest
peterknoben 0:9c61094ffaac 109 xmovement = direction_math[0] * 1; //mm
peterknoben 0:9c61094ffaac 110 ymovement = direction_math[1] * 1; //mm
peterknoben 0:9c61094ffaac 111 position[0] += xmovement;
peterknoben 0:9c61094ffaac 112 position[1] += ymovement;
peterknoben 0:9c61094ffaac 113 break;
peterknoben 0:9c61094ffaac 114 case 2: //Move slow
peterknoben 0:9c61094ffaac 115 xmovement = direction_math[0] * 2; //mm
peterknoben 0:9c61094ffaac 116 ymovement = direction_math[1] * 2; //mm
peterknoben 0:9c61094ffaac 117 position[0] += xmovement;
peterknoben 0:9c61094ffaac 118 position[1] += ymovement;
peterknoben 0:9c61094ffaac 119 break;
peterknoben 0:9c61094ffaac 120 case 3: //Move fast
peterknoben 0:9c61094ffaac 121 xmovement = direction_math[0] * 5; //mm
peterknoben 0:9c61094ffaac 122 ymovement = direction_math[1] * 5; //mm
peterknoben 0:9c61094ffaac 123 position[0] += xmovement;
peterknoben 0:9c61094ffaac 124 position[1] += ymovement;
peterknoben 0:9c61094ffaac 125 break;
peterknoben 0:9c61094ffaac 126 case 4: //Move fastest
peterknoben 0:9c61094ffaac 127 xmovement = direction_math[0] * 10; //mm
peterknoben 0:9c61094ffaac 128 ymovement = direction_math[1] * 10; //mm
peterknoben 0:9c61094ffaac 129 position[0] += xmovement;
peterknoben 0:9c61094ffaac 130 position[1] += ymovement;
peterknoben 0:9c61094ffaac 131 break;
peterknoben 0:9c61094ffaac 132 default : //if something is wrong or no muscles are flexed, standstill
peterknoben 0:9c61094ffaac 133 position[0] = position[0];
peterknoben 0:9c61094ffaac 134 position[1] = position[1];
peterknoben 0:9c61094ffaac 135 break;
peterknoben 0:9c61094ffaac 136 }
peterknoben 0:9c61094ffaac 137 return position;
peterknoben 0:9c61094ffaac 138 }
peterknoben 0:9c61094ffaac 139 */
peterknoben 0:9c61094ffaac 140