Peter Knoben / MovementClean

Working, Clean

Fork of Movement by Dustin Berendsen

Movement.cpp@0:9c61094ffaac, 2017-10-31 (annotated)

Committer:
peterknoben
Date:
Tue Oct 31 14:34:37 2017 +0000
Revision:
0:9c61094ffaac
Child:
1:03e2651b4a24
fsdaf

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