NagaokaRoboticsClub_mbedTeam / Mbed OS NHK2017_octopus2

Octopus!!

Dependencies:   2017NHKpin_config FEP HMC6352 PID QEI R1307 ikarashiMDC omni_wheel

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bot/limitSwitch/limitSwitch.cpp@49:69a7235d837a, 2017-11-11 (annotated)

Committer:
number_key
Date:
Sat Nov 11 17:40:10 2017 +0900
Revision:
49:69a7235d837a
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number_key 49:69a7235d837a 1 #include "limitSwitch.h"
number_key 49:69a7235d837a 2
number_key 49:69a7235d837a 3 Limit::Limit(PinName limitSwitch1, PinName limitSwitch2) : frontSwitch(limitSwitch1), backSwitch(limitSwitch2)
number_key 49:69a7235d837a 4 {
number_key 49:69a7235d837a 5
number_key 49:69a7235d837a 6 frontSwitch.rise(callback(this, &Limit::frontLimit));
number_key 49:69a7235d837a 7 backSwitch.rise(callback(this, &Limit::backLimit));
number_key 49:69a7235d837a 8
number_key 49:69a7235d837a 9 }
number_key 49:69a7235d837a 10
number_key 49:69a7235d837a 11 void Limit::frontLimit()
number_key 49:69a7235d837a 12 {
number_key 49:69a7235d837a 13 position = -1;
number_key 49:69a7235d837a 14 }
number_key 49:69a7235d837a 15
number_key 49:69a7235d837a 16 void Limit::backLimit()
number_key 49:69a7235d837a 17 {
number_key 49:69a7235d837a 18 position = 1;
number_key 49:69a7235d837a 19 }
number_key 49:69a7235d837a 20
number_key 49:69a7235d837a 21 void Limit::resetPosition()
number_key 49:69a7235d837a 22 {
number_key 49:69a7235d837a 23 position = 0;
number_key 49:69a7235d837a 24 }
number_key 49:69a7235d837a 25
number_key 49:69a7235d837a 26 int Limit::getPosition()
number_key 49:69a7235d837a 27 {
number_key 49:69a7235d837a 28 return position;
number_key 49:69a7235d837a 29 }