Diff: bot/elevator/elevator.cpp

Revision:

26:7258d5ad0bff

Parent:

25:d199d621ecca

--- a/bot/elevator/elevator.cpp	Sat Sep 30 17:59:10 2017 +0900
+++ b/bot/elevator/elevator.cpp	Wed Oct 25 03:25:06 2017 +0900
@@ -1,15 +1,17 @@
 #include "elevator.h"
 
 Elevator::Elevator(DigitalOut* RS485Controller, Serial* RS485) :
-  elevatorMotor(RS485Controller, 1, 2, SM, RS485)
+  elevatorMotor(RS485Controller, 1, 2, SM, RS485),
+  limit(PWM2, PWM1),
+  debugSerial(USBTX, USBRX, 115200)
 {
 	elevatorMotor.braking = true;
 }
 
 void Elevator::move(float speed)
 {
-  //if(speed*right.getPosition() < 0)    speed = 0;
-  //if(speed*right.getPosition() > 0)    right.resetPosition();
+  if(speed*limit.getPosition() < 0)    speed = 0;
+  if(speed*limit.getPosition() > 0)    limit.resetPosition();
 	elevatorMotor.setSpeed(speed);
 }
 
@@ -17,3 +19,8 @@
 {
   elevatorMotor.setSpeed(0);
 }
+
+void Elevator::debugPrint()
+{
+  debugSerial.printf("elevator:%d\r\f",limit.getPosition());
+}