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

Diff: bot/sword_unit/sword_unit.cpp

Revision:
23:37bb9afe9fdc
Child:
25:d199d621ecca
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/bot/sword_unit/sword_unit.cpp	Wed Sep 13 14:26:47 2017 +0900
@@ -0,0 +1,19 @@
+#include "sword_unit.h"
+
+Sword::Sword(DigitalOut* RS485Controller, Serial* RS485) :
+  swordMotor(RS485Controller, 1, 2, SM, RS485)
+{
+	swordMotor.braking = true;
+}
+
+void Sword::move(float speed)
+{
+  //if(speed*right.getPosition() < 0)    speed = 0;
+  //if(speed*right.getPosition() > 0)    right.resetPosition();
+	swordMotor.setSpeed(speed);
+}
+
+void Sword::stop()
+{
+  swordMotor.setSpeed(0);
+}