13Ko-Robo
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Dependencies: mbed HCSR04 HMC6352 PID TextLCD
dribbler.h@6:44c3bfbe2553, 2015-08-11 (annotated)
- Committer:
- KoiShin_Sakana
- Date:
- Tue Aug 11 13:11:05 2015 +0000
- Revision:
- 6:44c3bfbe2553
- Parent:
- 5:e07e380ddb93
update dribbler.h
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| KoiShin_Sakana | 3:901d18b901b4 | 1 | /** |
| KoiShin_Sakana | 6:44c3bfbe2553 | 2 | * @file : dribbler.h (1.0) |
| KoiShin_Sakana | 3:901d18b901b4 | 3 | * @brief : dribble the ball |
| KoiShin_Sakana | 3:901d18b901b4 | 4 | * @author : Shinnosuke KOIKE |
| KoiShin_Sakana | 6:44c3bfbe2553 | 5 | * @date : 2015/08/11 |
| KoiShin_Sakana | 3:901d18b901b4 | 6 | */ |
| KoiShin_Sakana | 3:901d18b901b4 | 7 | |
| KoiShin_Sakana | 3:901d18b901b4 | 8 | #ifndef DRIBBLER_H |
| KoiShin_Sakana | 3:901d18b901b4 | 9 | #define DRIBBLER_H |
| KoiShin_Sakana | 3:901d18b901b4 | 10 | |
| KoiShin_Sakana | 3:901d18b901b4 | 11 | #include "mbed.h" |
| KoiShin_Sakana | 5:e07e380ddb93 | 12 | #include "motor.h" |
| KoiShin_Sakana | 3:901d18b901b4 | 13 | |
| KoiShin_Sakana | 6:44c3bfbe2553 | 14 | class Dribbler { |
| KoiShin_Sakana | 5:e07e380ddb93 | 15 | public: |
| KoiShin_Sakana | 5:e07e380ddb93 | 16 | Dribbler(PinName normalDirect, PinName reverseDirect, PinName pwm, PinName dribblerIR_); |
| KoiShin_Sakana | 5:e07e380ddb93 | 17 | void dribble(float power); |
| KoiShin_Sakana | 5:e07e380ddb93 | 18 | |
| KoiShin_Sakana | 5:e07e380ddb93 | 19 | private: |
| KoiShin_Sakana | 5:e07e380ddb93 | 20 | DigitalIn dribblerIR; |
| KoiShin_Sakana | 6:44c3bfbe2553 | 21 | Motor dribblerMotor; |
| KoiShin_Sakana | 3:901d18b901b4 | 22 | }; |
| KoiShin_Sakana | 3:901d18b901b4 | 23 | |
| KoiShin_Sakana | 6:44c3bfbe2553 | 24 | Dribbler::Dribbler(PinName normalDirect, PinName reverseDirect, PinName pwm, PinName dribblerIR_) : |
| KoiShin_Sakana | 6:44c3bfbe2553 | 25 | dribblerIR(dribblerIR_), dribblerMotor(normalDirect, reverseDirect, pwm) { |
| KoiShin_Sakana | 6:44c3bfbe2553 | 26 | dribblerMotor.setLimit(0.8); |
| KoiShin_Sakana | 5:e07e380ddb93 | 27 | } |
| KoiShin_Sakana | 5:e07e380ddb93 | 28 | |
| KoiShin_Sakana | 5:e07e380ddb93 | 29 | void Dribbler::dribble(float power) { |
| KoiShin_Sakana | 5:e07e380ddb93 | 30 | if (dribblerIR == 0) { |
| KoiShin_Sakana | 6:44c3bfbe2553 | 31 | dribblerMotor.run(power); |
| KoiShin_Sakana | 5:e07e380ddb93 | 32 | } else { |
| KoiShin_Sakana | 6:44c3bfbe2553 | 33 | dribblerMotor.brake(); |
| KoiShin_Sakana | 5:e07e380ddb93 | 34 | } |
| KoiShin_Sakana | 5:e07e380ddb93 | 35 | } |
| KoiShin_Sakana | 5:e07e380ddb93 | 36 | |
| KoiShin_Sakana | 5:e07e380ddb93 | 37 | #endif |
| KoiShin_Sakana | 5:e07e380ddb93 | 38 | |
| KoiShin_Sakana | 5:e07e380ddb93 | 39 | /** |
| KoiShin_Sakana | 5:e07e380ddb93 | 40 | * example program |
| KoiShin_Sakana | 5:e07e380ddb93 | 41 | |
| KoiShin_Sakana | 5:e07e380ddb93 | 42 | #include "mbed.h" |
| KoiShin_Sakana | 5:e07e380ddb93 | 43 | #include "dribbler.h" |
| KoiShin_Sakana | 5:e07e380ddb93 | 44 | |
| KoiShin_Sakana | 5:e07e380ddb93 | 45 | int main(void) { |
| KoiShin_Sakana | 5:e07e380ddb93 | 46 | Dribbler dribbler(D4, D7, D9, D0); |
| KoiShin_Sakana | 5:e07e380ddb93 | 47 | while (1) { |
| KoiShin_Sakana | 5:e07e380ddb93 | 48 | dribbler.dribble(0.2); |
| KoiShin_Sakana | 5:e07e380ddb93 | 49 | } |
| KoiShin_Sakana | 5:e07e380ddb93 | 50 | } |
| KoiShin_Sakana | 5:e07e380ddb93 | 51 | */ |