kani
Dependencies: 2017NHKpin_config FEP omni_wheel PID R1307 ikarashiMDC
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bot/slider/slider.cpp@55:f9e13797024f, 2017-12-22 (annotated)
- Committer:
- takeuchi
- Date:
- Fri Dec 22 17:34:28 2017 +0900
- Revision:
- 55:f9e13797024f
- Parent:
- 47:43f55ff8916b
reflesh code
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
uchitake |
9:39be1525dfe0 | 1 | #include "slider.h" |
uchitake |
9:39be1525dfe0 | 2 | |
uchitake |
9:39be1525dfe0 | 3 | Slider::Slider(DigitalOut* RS485Controller, Serial* RS485) : |
uchitake |
9:39be1525dfe0 | 4 | slideMotor(RS485Controller, 1, 0, SM, RS485), |
takeuchi |
47:43f55ff8916b | 5 | downLimitSwitch(PWM3), |
takeuchi |
47:43f55ff8916b | 6 | upLimitSwitch(PWM2), |
uchitake |
16:50651ff960b9 | 7 | slideSerial(USBTX, USBRX, 115200) |
uchitake |
9:39be1525dfe0 | 8 | { |
uchitake |
9:39be1525dfe0 | 9 | slideMotor.braking = true; |
uchitake |
9:39be1525dfe0 | 10 | } |
uchitake |
9:39be1525dfe0 | 11 | |
takeuchi |
37:6b6616008e78 | 12 | void Slider::slide(float speed) { |
takeuchi |
37:6b6616008e78 | 13 | if(downLimitSwitch && speed > 0) speed = 0; |
takeuchi |
37:6b6616008e78 | 14 | if(upLimitSwitch && speed < 0) speed = 0; |
takeuchi |
37:6b6616008e78 | 15 | slideMotor.setSpeed(speed); |
uchitake |
9:39be1525dfe0 | 16 | } |