kani
Dependencies: 2017NHKpin_config FEP omni_wheel PID R1307 ikarashiMDC
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bot/slider/slider.cpp
- Committer:
- takeuchi
- Date:
- 2017-12-22
- Revision:
- 55:f9e13797024f
- Parent:
- 47:43f55ff8916b
File content as of revision 55:f9e13797024f:
#include "slider.h" Slider::Slider(DigitalOut* RS485Controller, Serial* RS485) : slideMotor(RS485Controller, 1, 0, SM, RS485), downLimitSwitch(PWM3), upLimitSwitch(PWM2), slideSerial(USBTX, USBRX, 115200) { slideMotor.braking = true; } void Slider::slide(float speed) { if(downLimitSwitch && speed > 0) speed = 0; if(upLimitSwitch && speed < 0) speed = 0; slideMotor.setSpeed(speed); }