Mami Yokokawa / cansat

2015/08/11

Dependencies:   VNH5019

Dependents:   Cansat_program3 Cansat_program4

Fork of CanSat_aoki by CanSat2015aizu

cansat.cpp@10:e40f6ad7dab3, 2015-08-13 (annotated)

Committer:
s1200058
Date:
Thu Aug 13 07:10:53 2015 +0000
Revision:
10:e40f6ad7dab3
Parent:
9:ea6a71ec9f9d 
08/13_16:10;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
kityann 2:0f76226be922 1 #include "cansat.h"
kityann 2:0f76226be922 2
kityann 2:0f76226be922 3
kityann 2:0f76226be922 4 //////////////////////////////
kityann 2:0f76226be922 5 // Init //
kityann 2:0f76226be922 6 //////////////////////////////
kityann 2:0f76226be922 7 CanSat::CanSat(VNH5019 agzSheild):_agzSheild(agzSheild){
kityann 2:0f76226be922 8
kityann 2:0f76226be922 9 }
kityann 2:0f76226be922 10
kityann 2:0f76226be922 11
kityann 2:0f76226be922 12
kityann 2:0f76226be922 13 void CanSat::control_Motor(int flag,int speed){
kityann 2:0f76226be922 14
kityann 2:0f76226be922 15 if(flag == 0){
kityann 2:0f76226be922 16 _agzSheild.changeSpeed(1, speed, 1, speed); //straight
kityann 2:0f76226be922 17 }
kityann 2:0f76226be922 18 if(flag == 1){
kityann 2:0f76226be922 19 _agzSheild.changeSpeed(0, speed, 0, speed);
kityann 2:0f76226be922 20 }
kityann 2:0f76226be922 21 if(flag == 2){
s1200058 7:b24799407d03 22 _agzSheild.changeSpeed(1, speed, 0, speed); //Turn Right
kityann 2:0f76226be922 23 }
kityann 2:0f76226be922 24 if(flag == 3){
s1200058 7:b24799407d03 25 _agzSheild.changeSpeed(0, speed, 1, speed); //Turn Right
kityann 2:0f76226be922 26 }
kityann 2:0f76226be922 27 if(flag == 4){
kityann 2:0f76226be922 28 _agzSheild.changeSpeed(2, speed, 2, speed);
kityann 2:0f76226be922 29 }
kityann 2:0f76226be922 30 }
kityann 2:0f76226be922 31
kityann 2:0f76226be922 32
kityann 2:0f76226be922 33 //////////////////////////////
kityann 2:0f76226be922 34 // Get //
kityann 2:0f76226be922 35 //////////////////////////////
kityann 2:0f76226be922 36 double CanSat::get_robot_x(){
kityann 2:0f76226be922 37 return robot_x;
kityann 2:0f76226be922 38 }
kityann 2:0f76226be922 39 double CanSat::get_robot_y(){
kityann 2:0f76226be922 40 return robot_y;
kityann 2:0f76226be922 41 }
kityann 2:0f76226be922 42 double CanSat::get_robotKalman_x(){
kityann 2:0f76226be922 43 return robotK_x;
kityann 2:0f76226be922 44 }
kityann 2:0f76226be922 45 double CanSat::get_robotKalman_y(){
kityann 2:0f76226be922 46 return robotK_y;
kityann 2:0f76226be922 47 }
s1210160 5:534a54a44b22 48 int16_t CanSat::get_compass_x(){
s1210160 5:534a54a44b22 49 return compass_x;
s1210160 5:534a54a44b22 50 }
s1210160 5:534a54a44b22 51 int16_t CanSat::get_compass_y(){
s1210160 5:534a54a44b22 52 return compass_y;
s1210160 5:534a54a44b22 53 }
s1210160 5:534a54a44b22 54 int16_t CanSat::get_compass_z(){
s1200058 4:8713fff9e20d 55 return compass_z;
s1200058 4:8713fff9e20d 56 }
s1210160 5:534a54a44b22 57 double CanSat::get_compass_angle(){
s1210160 5:534a54a44b22 58 return compass_angle;
s1210160 5:534a54a44b22 59 }
s1200058 4:8713fff9e20d 60 double CanSat::get_target_distance(){
s1200058 4:8713fff9e20d 61 return target_distance;
s1200058 4:8713fff9e20d 62 }
s1200058 4:8713fff9e20d 63 double CanSat::get_target_x(){
s1200058 4:8713fff9e20d 64 return target_x;
s1200058 4:8713fff9e20d 65 }
s1200058 4:8713fff9e20d 66 double CanSat::get_target_y(){
s1200058 4:8713fff9e20d 67 return target_y;
s1200058 4:8713fff9e20d 68 }
s1200058 4:8713fff9e20d 69 int CanSat::get_speed(){
s1200058 4:8713fff9e20d 70 return speed;
s1200058 4:8713fff9e20d 71 }
s1200058 4:8713fff9e20d 72 int CanSat::get_robot_angle(){
s1200058 4:8713fff9e20d 73 return robot_angle;
s1200058 4:8713fff9e20d 74 }
s1200058 4:8713fff9e20d 75 int CanSat::get_target_angle(){
s1200058 4:8713fff9e20d 76 return target_angle;
s1200058 4:8713fff9e20d 77 }
s1200058 4:8713fff9e20d 78 double CanSat::get_pressure(){
s1200058 4:8713fff9e20d 79 return pressure;
s1200058 4:8713fff9e20d 80 }
s1200058 4:8713fff9e20d 81 double CanSat::get_temperature(){
s1200058 4:8713fff9e20d 82 return temperature;
s1200058 4:8713fff9e20d 83 }
s1200058 4:8713fff9e20d 84 double CanSat::get_humidity(){
s1200058 4:8713fff9e20d 85 return humidity;
s1200058 4:8713fff9e20d 86 }
kityann 2:0f76226be922 87 //////////////////////////////
kityann 2:0f76226be922 88 // Set //
kityann 2:0f76226be922 89 //////////////////////////////
kityann 2:0f76226be922 90 void CanSat::set_robot_x(double x){
kityann 2:0f76226be922 91 robot_x = x;
kityann 2:0f76226be922 92 }
kityann 2:0f76226be922 93 void CanSat::set_robot_y(double y){
kityann 2:0f76226be922 94 robot_y = y;
kityann 2:0f76226be922 95 }
kityann 2:0f76226be922 96
kityann 2:0f76226be922 97 void CanSat::set_robotKalman_x(double cur_x){
kityann 2:0f76226be922 98 robotK_x = cur_x;
kityann 2:0f76226be922 99 }
kityann 2:0f76226be922 100 void CanSat::set_robotKalman_y(double cur_y){
kityann 2:0f76226be922 101 robotK_y = cur_y;
kityann 2:0f76226be922 102 }
kityann 2:0f76226be922 103 void CanSat::set_gyro(double x, double y, double z){
kityann 2:0f76226be922 104 CanSat::gyro_x = x;
kityann 2:0f76226be922 105 CanSat::gyro_y = y;
kityann 2:0f76226be922 106 CanSat::gyro_z = z;
kityann 2:0f76226be922 107 }
s1210160 5:534a54a44b22 108 void CanSat::set_compass(int16_t x, int16_t y, int16_t z, double angle){
s1200058 8:bc3365988ee1 109 double setAngle;
s1200058 8:bc3365988ee1 110 CanSat::compass_x = x;
s1200058 8:bc3365988ee1 111 CanSat::compass_y = y;
s1200058 8:bc3365988ee1 112 CanSat::compass_z = z;
s1200058 8:bc3365988ee1 113
s1200058 10:e40f6ad7dab3 114 setAngle = angle-270;
s1200058 8:bc3365988ee1 115 if(setAngle < 0){
s1200058 8:bc3365988ee1 116 setAngle = setAngle + 360;
s1200058 8:bc3365988ee1 117 }
s1200058 8:bc3365988ee1 118 setAngle = 360 - setAngle;
s1200058 8:bc3365988ee1 119
s1200058 8:bc3365988ee1 120 CanSat::compass_angle = setAngle;
kityann 2:0f76226be922 121 }
kityann 2:0f76226be922 122 void CanSat::set_pressure(double p){
kityann 2:0f76226be922 123 CanSat::pressure = p;
kityann 2:0f76226be922 124 }
kityann 2:0f76226be922 125 void CanSat::set_temperature(double t){
kityann 2:0f76226be922 126 CanSat::temperature = t;
kityann 2:0f76226be922 127 }
kityann 2:0f76226be922 128 void CanSat::set_humidity(double h){
kityann 2:0f76226be922 129 CanSat::humidity = h;
kityann 2:0f76226be922 130 }
kityann 2:0f76226be922 131 void CanSat::set_acceleration(double x, double y, double z){
kityann 2:0f76226be922 132 CanSat::acceleration_x = x;
kityann 2:0f76226be922 133 CanSat::acceleration_y = y;
kityann 2:0f76226be922 134 CanSat::acceleration_z = z;
s1200058 4:8713fff9e20d 135 }
s1200058 4:8713fff9e20d 136 void CanSat::set_target_distance(double distance){
s1200058 4:8713fff9e20d 137 CanSat::target_distance = distance;
s1200058 4:8713fff9e20d 138 }
s1200058 4:8713fff9e20d 139 void CanSat::set_speed(int new_speed){
s1200058 4:8713fff9e20d 140 CanSat::speed = new_speed;
s1200058 4:8713fff9e20d 141 }
s1200058 4:8713fff9e20d 142 void CanSat::set_robot_angle(int new_robot_angle){
s1200058 4:8713fff9e20d 143 CanSat::robot_angle = new_robot_angle;
s1200058 4:8713fff9e20d 144 }
s1200058 4:8713fff9e20d 145 void CanSat::set_target_angle(int new_target_angle){
s1200058 4:8713fff9e20d 146 CanSat::target_angle = new_target_angle;
s1200058 6:601cac49d4b1 147 }
s1200058 6:601cac49d4b1 148 void CanSat::set_target(double x, double y){
s1200058 6:601cac49d4b1 149 CanSat::target_x = x;
s1200058 6:601cac49d4b1 150 CanSat::target_y = y;
s1200058 6:601cac49d4b1 151 }