Mami Yokokawa / cansat

2015/08/11

Dependencies:   VNH5019

Dependents:   Cansat_program3 Cansat_program4

Fork of CanSat_aoki by CanSat2015aizu

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

Committer:
s1200058
Date:
Thu Aug 13 07:10:53 2015 +0000
Revision:
10:e40f6ad7dab3
Parent:
6:601cac49d4b1 
08/13_16:10;

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();
s1210160 5:534a54a44b22 39 int16_t get_compass_x();
s1210160 5:534a54a44b22 40 int16_t get_compass_y();
s1210160 5:534a54a44b22 41 int16_t get_compass_z();
s1210160 5:534a54a44b22 42 double get_compass_angle();
s1200058 4:8713fff9e20d 43 double get_target_distance();
s1200058 4:8713fff9e20d 44 double get_target_x();
s1200058 4:8713fff9e20d 45 double get_target_y();
s1200058 4:8713fff9e20d 46
s1200058 4:8713fff9e20d 47 int get_speed();
s1200058 4:8713fff9e20d 48 int get_robot_angle();
s1200058 4:8713fff9e20d 49 int get_target_angle();
s1200058 4:8713fff9e20d 50
s1200058 4:8713fff9e20d 51 double get_temperature();
s1200058 4:8713fff9e20d 52 double get_humidity();
kityann 2:0f76226be922 53
kityann 2:0f76226be922 54 //set関数
kityann 2:0f76226be922 55 void set_robot_x(double);
kityann 2:0f76226be922 56 void set_robot_y(double);
kityann 2:0f76226be922 57 void set_robotKalman_x(double);
kityann 2:0f76226be922 58 void set_robotKalman_y(double);
kityann 0:3f50511c1c1f 59
kityann 2:0f76226be922 60 void set_gyro(double x, double y, double z);
s1210160 5:534a54a44b22 61 void set_compass(int16_t x, int16_t y, int16_t z, double angle);
kityann 2:0f76226be922 62 void set_pressure(double p);
kityann 2:0f76226be922 63 void set_temperature(double t);
kityann 2:0f76226be922 64 void set_humidity(double h);
kityann 2:0f76226be922 65 void set_acceleration(double x, double y, double z);
s1200058 4:8713fff9e20d 66
s1200058 4:8713fff9e20d 67 void set_target_distance(double distance);
s1200058 4:8713fff9e20d 68 void set_speed(int new_speed);
s1200058 4:8713fff9e20d 69 void set_robot_angle(int robot_angle);
s1200058 4:8713fff9e20d 70 void set_target_angle(int target_angle);
s1200058 6:601cac49d4b1 71 void set_target(double x, double y);
kityann 2:0f76226be922 72
kityann 0:3f50511c1c1f 73 private:
kityann 0:3f50511c1c1f 74 //モータ
kityann 2:0f76226be922 75 VNH5019 _agzSheild;
kityann 1:6a034792e059 76 //ロボットのスピード:32,64,128の3つ？
kityann 1:6a034792e059 77 int speed;
kityann 0:3f50511c1c1f 78 //ロボットとターゲットの座標（緯度と経度）を表す
kityann 2:0f76226be922 79 double robot_x,robot_y;
kityann 2:0f76226be922 80 double robotK_x,robotK_y;//kalman filter
s1200058 6:601cac49d4b1 81 double target_x, target_y;
s1210160 5:534a54a44b22 82 //ロボットとターゲットの方角を表す。北を0として北東：1、東：1、南東3のように0～7の値を持つ
kityann 0:3f50511c1c1f 83 int robot_angle,target_angle;
kityann 0:3f50511c1c1f 84 //ジャイロ
kityann 2:0f76226be922 85 int gyro_x,gyro_y,gyro_z;
kityann 0:3f50511c1c1f 86 //コンパス
kityann 2:0f76226be922 87 int compass_x,compass_y,compass_z;
s1210160 5:534a54a44b22 88 double compass_angle;
kityann 2:0f76226be922 89 //加速度
kityann 2:0f76226be922 90 double acceleration_x,acceleration_y,acceleration_z;
kityann 0:3f50511c1c1f 91 //気圧計の気圧、気温、湿度
kityann 0:3f50511c1c1f 92 double pressure,temperature,humidity;
kityann 0:3f50511c1c1f 93 //ロボットの速度
kityann 0:3f50511c1c1f 94 int velocity;
kityann 0:3f50511c1c1f 95 //ターゲットまでの距離
kityann 0:3f50511c1c1f 96 int target_distance;
kityann 0:3f50511c1c1f 97 };
kityann 0:3f50511c1c1f 98
s1200058 4:8713fff9e20d 99 #endif