Peter Knoben / MovementClean

Working, Clean

Fork of Movement by Dustin Berendsen

Movement.cpp@2:43a6498000e8, 2017-11-01 (annotated)

Committer:
peterknoben
Date:
Wed Nov 01 13:42:11 2017 +0000
Revision:
2:43a6498000e8
Parent:
1:03e2651b4a24
Child:
3:61733f7f1fea
sdf

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