Revision 6:44c3bfbe2553, committed 2015-08-11

Comitter:

KoiShin_Sakana

Date:

Tue Aug 11 13:11:05 2015 +0000

Parent:

5:e07e380ddb93

Commit message:

update dribbler.h

Changed in this revision

--- 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);
     }

--- a/kicker.h	Sat Aug 08 12:39:18 2015 +0000
+++ b/kicker.h	Tue Aug 11 13:11:05 2015 +0000
@@ -39,7 +39,7 @@
 void Kicker::count(void) {
     timer.start();
     float val = timer.read();
-    if (val >= 3) {
+    if (val >= 2) {
         this->enableKick = 1;
     }
 }

--- a/motor.h	Sat Aug 08 12:39:18 2015 +0000
+++ b/motor.h	Tue Aug 11 13:11:05 2015 +0000
@@ -20,7 +20,7 @@
     void run(float power); // input -1 ~ 1
     void brake(void);
 
-protected:
+private:
     float limit;
     PwmOut* powerLevel;
     DigitalOut normal;