Diff: dribbler.h

Revision:

6:44c3bfbe2553

Parent:

5:e07e380ddb93

--- a/dribbler.h	Sat Aug 08 12:39:18 2015 +0000
+++ b/dribbler.h	Tue Aug 11 13:11:05 2015 +0000
@@ -1,8 +1,8 @@
 /**
- * @file   : dribbler.h (0.1)
+ * @file   : dribbler.h (1.0)
  * @brief  : dribble the ball
  * @author : Shinnosuke KOIKE
- * @date   : 2015/08/07
+ * @date   : 2015/08/11
  */
 
 #ifndef DRIBBLER_H
@@ -11,25 +11,26 @@
 #include "mbed.h"
 #include "motor.h"
 
-class Dribbler : public Motor {
+class Dribbler {
 public:
     Dribbler(PinName normalDirect, PinName reverseDirect, PinName pwm, PinName dribblerIR_);
     void dribble(float power);
 
 private:
     DigitalIn dribblerIR;
+    Motor dribblerMotor;
 };
 
-Dribbler::Dribbler(PinName normalDirect, PinName reverseDirect, PinName pwm, PinName dribblerIR) :
-        normal(normalDirect), reverse(reverseDirect), dribblerIR(dribblerIR_) {
-    powerLevel = new PwmOut(pwm);
+Dribbler::Dribbler(PinName normalDirect, PinName reverseDirect, PinName pwm, PinName dribblerIR_) :
+        dribblerIR(dribblerIR_), dribblerMotor(normalDirect, reverseDirect, pwm) {
+    dribblerMotor.setLimit(0.8);
 }
 
 void Dribbler::dribble(float power) {
     if (dribblerIR == 0) {
-        run(power);
+        dribblerMotor.run(power);
     } else {
-        brake();
+        dribblerMotor.brake();
     }
 }
 
@@ -43,7 +44,6 @@
 
 int main(void) {
     Dribbler dribbler(D4, D7, D9, D0);
-    dribbler.setLimit(0.8);
     while (1) {
         dribbler.dribble(0.2);
     }