NagaokaRoboticsClub_mbedTeam / Mbed 2 deprecated NHK2017_octopus

NHK2017 octopus robot

Dependencies:   2017NHKpin_config mbed FEP ikarashiMDC PID jy901 omni HMC6352 omni_wheel

Fork of KANI2017v2 by NagaokaRoboticsClub_mbedTeam

bot/elevator/elevator.cpp@26:7258d5ad0bff, 2017-10-25 (annotated)

Committer:
number_key
Date:
Wed Oct 25 03:25:06 2017 +0900
Revision:
26:7258d5ad0bff
Parent:
25:d199d621ecca 
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UserRevisionLine numberNew contents of line
number_key 23:37bb9afe9fdc 1 #include "elevator.h"
number_key 23:37bb9afe9fdc 2
number_key 23:37bb9afe9fdc 3 Elevator::Elevator(DigitalOut* RS485Controller, Serial* RS485) :
number_key 26:7258d5ad0bff 4 elevatorMotor(RS485Controller, 1, 2, SM, RS485),
number_key 26:7258d5ad0bff 5 limit(PWM2, PWM1),
number_key 26:7258d5ad0bff 6 debugSerial(USBTX, USBRX, 115200)
number_key 23:37bb9afe9fdc 7 {
number_key 23:37bb9afe9fdc 8 elevatorMotor.braking = true;
number_key 23:37bb9afe9fdc 9 }
number_key 23:37bb9afe9fdc 10
number_key 23:37bb9afe9fdc 11 void Elevator::move(float speed)
number_key 23:37bb9afe9fdc 12 {
number_key 26:7258d5ad0bff 13 if(speed*limit.getPosition() < 0) speed = 0;
number_key 26:7258d5ad0bff 14 if(speed*limit.getPosition() > 0) limit.resetPosition();
number_key 23:37bb9afe9fdc 15 elevatorMotor.setSpeed(speed);
number_key 23:37bb9afe9fdc 16 }
number_key 23:37bb9afe9fdc 17
number_key 23:37bb9afe9fdc 18 void Elevator::stop()
number_key 23:37bb9afe9fdc 19 {
number_key 23:37bb9afe9fdc 20 elevatorMotor.setSpeed(0);
number_key 23:37bb9afe9fdc 21 }
number_key 26:7258d5ad0bff 22
number_key 26:7258d5ad0bff 23 void Elevator::debugPrint()
number_key 26:7258d5ad0bff 24 {
number_key 26:7258d5ad0bff 25 debugSerial.printf("elevator:%d\r\f",limit.getPosition());
number_key 26:7258d5ad0bff 26 }