Mami Yokokawa / cansat

2015/08/11

Dependencies:   VNH5019

Dependents:   Cansat_program3 Cansat_program4

Fork of CanSat_aoki by CanSat2015aizu

cansat.h@2:0f76226be922, 2015-07-23 (annotated)

Committer:
kityann
Date:
Thu Jul 23 08:16:33 2015 +0000
Revision:
2:0f76226be922
Parent:
1:6a034792e059
Child:
4:8713fff9e20d
2015/07/23

Who changed what in which revision?

UserRevisionLine numberNew contents of line
kityann 0:3f50511c1c1f 1 #ifndef CANSAT_H
kityann 0:3f50511c1c1f 2 #define CANSAT_H
kityann 0:3f50511c1c1f 3
kityann 0:3f50511c1c1f 4 /**
kityann 0:3f50511c1c1f 5 * Includes
kityann 0:3f50511c1c1f 6 */
kityann 0:3f50511c1c1f 7 #include "mbed.h"
kityann 2:0f76226be922 8 #include "VNH5019.h"
kityann 2:0f76226be922 9 enum STATUS {GPS_AVAIL = 0, GPS_UNAVAIL = 1,GPS_OUT_AREA = 2};
kityann 0:3f50511c1c1f 10
kityann 2:0f76226be922 11 const int distance_threshold[2]={0.1,0.5};
kityann 1:6a034792e059 12
kityann 0:3f50511c1c1f 13 class CanSat{
kityann 0:3f50511c1c1f 14 public:
kityann 2:0f76226be922 15 STATUS nowStatus;
kityann 2:0f76226be922 16
kityann 2:0f76226be922 17 char motor_command;
kityann 2:0f76226be922 18 void control_Motor(int,int);//動き、スピード
kityann 2:0f76226be922 19
kityann 2:0f76226be922 20 CanSat(VNH5019 agzSheild);
kityann 0:3f50511c1c1f 21 //ロボットとターゲットの方角からロボットの動きを決める
kityann 0:3f50511c1c1f 22 char get_moving_angle(int robot_angle,int target_angle);
kityann 0:3f50511c1c1f 23 //ロボットとターゲットの距離の計算
kityann 0:3f50511c1c1f 24 double get_taget_distance();
kityann 0:3f50511c1c1f 25 //ロボットとターゲットの距離から速度を決める
kityann 0:3f50511c1c1f 26 int get_roboto_velocity();
kityann 0:3f50511c1c1f 27 //気圧の取得
kityann 0:3f50511c1c1f 28 double get_pressure();
kityann 0:3f50511c1c1f 29 //スタック判定：加速度データをもとに？
kityann 0:3f50511c1c1f 30 bool is_stack();
kityann 0:3f50511c1c1f 31 //ログデータの送信
kityann 0:3f50511c1c1f 32 void log_send();
kityann 2:0f76226be922 33
kityann 2:0f76226be922 34 //get関数
kityann 2:0f76226be922 35 double get_robot_x();
kityann 2:0f76226be922 36 double get_robot_y();
kityann 2:0f76226be922 37 double get_robotKalman_x();
kityann 2:0f76226be922 38 double get_robotKalman_y();
kityann 2:0f76226be922 39
kityann 2:0f76226be922 40 //set関数
kityann 2:0f76226be922 41 void set_robot_x(double);
kityann 2:0f76226be922 42 void set_robot_y(double);
kityann 2:0f76226be922 43 void set_robotKalman_x(double);
kityann 2:0f76226be922 44 void set_robotKalman_y(double);
kityann 0:3f50511c1c1f 45
kityann 2:0f76226be922 46 void set_gyro(double x, double y, double z);
kityann 2:0f76226be922 47 void set_compass(double x, double y, double z);
kityann 2:0f76226be922 48 void set_pressure(double p);
kityann 2:0f76226be922 49 void set_temperature(double t);
kityann 2:0f76226be922 50 void set_humidity(double h);
kityann 2:0f76226be922 51 void set_acceleration(double x, double y, double z);
kityann 2:0f76226be922 52
kityann 0:3f50511c1c1f 53 private:
kityann 0:3f50511c1c1f 54 //モータ
kityann 2:0f76226be922 55 VNH5019 _agzSheild;
kityann 1:6a034792e059 56 //ロボットのスピード:32,64,128の3つ？
kityann 1:6a034792e059 57 int speed;
kityann 0:3f50511c1c1f 58 //ロボットとターゲットの座標（緯度と経度）を表す
kityann 2:0f76226be922 59 double robot_x,robot_y;
kityann 2:0f76226be922 60 double robotK_x,robotK_y;//kalman filter
kityann 2:0f76226be922 61 double target_x,target_y;
kityann 0:3f50511c1c1f 62 //ロボットとターゲットの方角を表す。北を１として北東：２、東：３、南東４のように１～８の値を持つ
kityann 0:3f50511c1c1f 63 int robot_angle,target_angle;
kityann 0:3f50511c1c1f 64 //ジャイロ
kityann 2:0f76226be922 65 int gyro_x,gyro_y,gyro_z;
kityann 0:3f50511c1c1f 66 //コンパス
kityann 2:0f76226be922 67 int compass_x,compass_y,compass_z;
kityann 2:0f76226be922 68 //加速度
kityann 2:0f76226be922 69 double acceleration_x,acceleration_y,acceleration_z;
kityann 0:3f50511c1c1f 70 //気圧計の気圧、気温、湿度
kityann 0:3f50511c1c1f 71 double pressure,temperature,humidity;
kityann 0:3f50511c1c1f 72 //ロボットの速度
kityann 0:3f50511c1c1f 73 int velocity;
kityann 0:3f50511c1c1f 74 //ターゲットまでの距離
kityann 0:3f50511c1c1f 75 int target_distance;
kityann 0:3f50511c1c1f 76 };
kityann 0:3f50511c1c1f 77
kityann 0:3f50511c1c1f 78 #endif