NagaokaRoboticsClub_mbedTeam / Mbed OS NHK2017_octopus2

Octopus!!

Dependencies:   2017NHKpin_config FEP HMC6352 PID QEI R1307 ikarashiMDC omni_wheel

Fork of KANIv3 by NagaokaRoboticsClub_mbedTeam

Diff: bot/limitSwitch/limitSwitch.cpp

Revision:
49:69a7235d837a
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/bot/limitSwitch/limitSwitch.cpp	Sat Nov 11 17:40:10 2017 +0900
@@ -0,0 +1,29 @@
+#include "limitSwitch.h"
+
+Limit::Limit(PinName limitSwitch1, PinName limitSwitch2) : frontSwitch(limitSwitch1), backSwitch(limitSwitch2)
+{
+
+    frontSwitch.rise(callback(this, &Limit::frontLimit));
+    backSwitch.rise(callback(this, &Limit::backLimit));
+
+}
+
+void Limit::frontLimit()
+{
+    position = -1;
+}
+
+void Limit::backLimit()
+{
+    position = 1;
+}
+
+void Limit::resetPosition()
+{
+    position = 0;
+}
+
+int Limit::getPosition()
+{
+  return position;
+}