HOSOKIkikou.cpp

00001 
00002 
00003 #include "HOSOKIkikou.h"
00004 
00005 
00006 
00007 HOSOKIkikou::HOSOKIkikou(ikarashiMDC *ik1, ikarashiMDC *ik2, ikarashiMDC *ik3, ikarashiMDC *ik4, uint8_t *b1, uint8_t *b2, uint8_t *b3, uint8_t *b4, int *env1, int *env2) : pc(USBTX,USBRX,115200){
00008     init(ik1, ik2, ik3, ik4, b1, b2, b3, b4, env1, env2);
00009 }
00010 
00011 void HOSOKIkikou::init(ikarashiMDC *ik1, ikarashiMDC *ik2, ikarashiMDC *ik3, ikarashiMDC *ik4, uint8_t *b1, uint8_t *b2, uint8_t *b3, uint8_t *b4, int *env1, int *env2){
00012     ik[0] = ik1; //射出右
00013     ik[1] = ik2; //射出左
00014     ik[2] = ik3; //将校
00015     ik[3] = ik4; //装填
00016     button[0] = b1; //射出
00017     button[1] = b2; //上
00018     button[2] = b3; //下
00019     button[3] = b4; //装填
00020     encoder[0] = env1; //将校
00021     encoder[1] = env2; //装填
00022     for(int i=0; i<4; i++){
00023          mspeed[i] = 0;
00024          if(i < 2) buff[i] = 0;
00025     }
00026     injecterFlag = false;
00027 }
00028 
00029 void HOSOKIkikou::runAll(float speedIRight, float speedILeft, float speedLoad, float speedLift)
00030 {
00031     runInjection(speedIRight, speedILeft);
00032     runLoad(speedLoad);
00033     runLift(speedLift);
00034     for(int i=0; i<4; i++){
00035          pc.printf("%f  ",mspeed[i]);
00036     }
00037     pc.printf("\r\n");
00038 }
00039 
00040 void HOSOKIkikou::stopAll(){
00041     //init(NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL);
00042     for(int i=0; i<4; i++){
00043         button[i] = NULL;
00044         mspeed[i] = 0;
00045         if(i < 3){
00046             encoder[i] = NULL;
00047         }
00048     }
00049     injecterFlag = false;
00050 }
00051 
00052 void HOSOKIkikou::runInjection(float speedRight, float speedLeft)
00053 {
00054     ik[0]->setSpeed(mspeed[0]);
00055     ik[1]->setSpeed(mspeed[1]);
00056     if(injecterFlag){
00057         mspeed[0] = speedRight;
00058         mspeed[1] = speedLeft;
00059     }else{
00060         mspeed[0] = 0;
00061         mspeed[1] = 0;
00062     }
00063     
00064     buff[0] = *button[0] - buff[1];
00065     buff[1] = *button[0];
00066     
00067     if(buff[0] <= 0 || button[0] == NULL){
00068         return;
00069     }else{
00070         injecterFlag = !injecterFlag;
00071     }
00072 }
00073 
00074 void HOSOKIkikou::runLoad(float speed)
00075 {
00076     
00077     ik[3]->setSpeed(mspeed[2]);
00078     if(*button[1] <= 0 && *button[2] <= 0 || button[1] == NULL || button[2] == NULL){
00079         mspeed[2] = 0;
00080         return;   
00081     }else if(*button[1] >= 1){
00082         mspeed[2] = speed;
00083     }else if(*button[2] >= 1){
00084         mspeed[2] = -speed;
00085     }else{
00086         mspeed[2] = 0;   
00087     }
00088 }
00089 
00090 void HOSOKIkikou::runLift(float speed)
00091 {
00092     ik[2]->setSpeed(mspeed[3]);
00093     if(*button[3] <= 0){
00094         mspeed[3] = 0;
00095         return;   
00096     }else if(*button[3] >= 1 || button[3] == NULL){
00097         mspeed[3] = speed;
00098     }else{
00099         mspeed[3] = 0;   
00100     }
00101 }
00102 
00103 void HOSOKIkikou::checkAllMotorSpeed(float* data_buff){
00104     data_buff = mspeed;
00105 }