HOSOKIkikou.h

00001 
00002 #ifndef HOSOKIKIKOU
00003 
00004 #define HOSOKIKIKOU
00005 
00006 #include "mbed.h"
00007 #include "ikarashiMDC.h"
00008 
00009 class HOSOKIkikou
00010 {
00011 public:
00012 
00013     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);
00014     
00015 //    Serial(USBTX,USBRX,115200);
00016     
00017     void 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);
00018     
00019     void runAll(float speedIRight, float speedILeft, float speedLoad, float speedLift);
00020     
00021     void runInjection(float speedRight, float speedLeft);
00022     
00023     void runLoad(float speed);
00024     
00025     void runLift(float speed);
00026     
00027     void stopAll();
00028     
00029     void checkAllMotorSpeed(float* data_buff);
00030 
00031 private:
00032     
00033     Serial pc;
00034     int buff[2];
00035     uint8_t *button[4];
00036     int *encoder[3];
00037     float mspeed[4];
00038     bool injecterFlag;
00039     ikarashiMDC *ik[4];
00040     
00041 };
00042 
00043 #endif