Diff: kicker.h

Revision:

5:e07e380ddb93

Parent:

3:901d18b901b4

Child:

6:44c3bfbe2553

--- a/kicker.h	Fri Aug 07 06:51:51 2015 +0000
+++ b/kicker.h	Sat Aug 08 12:39:18 2015 +0000
@@ -1,8 +1,8 @@
 /**
- * @file   : kicker.h (0.1)
+ * @file   : kicker.h (1.0)
  * @brief  : kick the ball
  * @author : Shinnosuke KOIKE
- * @date   : 2015/08/07
+ * @date   : 2015/08/08
  */
 
 #ifndef KICKER_H
@@ -11,7 +11,61 @@
 #include "mbed.h"
 
 class Kicker {
-    
+public:
+    Kicker(PinName kicker_, PinName brightness_);
+    ~Kicker();
+    void kick(void);
+
+private:
+    DigitalOut kicker;
+    DigitalIn  brightness;
+    Timer timer;
+    bool enableKick;
+    void count(void);
 };
 
-#endif
\ No newline at end of file
+// initialize
+Kicker::Kicker(PinName kicker_, PinName brightness_):
+    kicker(kicker_), brightness(brightness_) {
+}
+
+// end timer
+Kicker::~Kicker() {
+    timer.reset();
+    timer.stop();
+}
+
+// count and set a kick flag
+void Kicker::count(void) {
+    timer.start();
+    float val = timer.read();
+    if (val >= 3) {
+        this->enableKick = 1;
+    }
+}
+
+// if ball exist before their's eyes and was set a kick flag, kick the ball
+void Kicker::kick(void) {
+    this->count();
+    if (brightness == 0 && enableKick == 1) {
+        kicker = 1;
+        timer.reset();
+        this->enableKick = 0;
+    }
+}
+
+#endif
+
+/**
+ * example program
+
+#include "mbed.h"
+#include "kicker.h"
+
+int main(void) {
+    Kicker kicker(D0, D1);
+    while (1) {
+        kicker.kick();
+    }
+}
+ */