NagaokaRoboticsClub_mbedTeam / Mbed OS NHK2017_octopus2

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Dependencies:   2017NHKpin_config FEP HMC6352 PID QEI R1307 ikarashiMDC omni_wheel

Fork of KANIv3 by NagaokaRoboticsClub_mbedTeam

bot/tentacle_unit/tentacle_unit.cpp

Committer:
number_key
Date:
2017-11-23
Revision:
52:320f910ca6ca
Parent:
49:69a7235d837a

File content as of revision 52:320f910ca6ca:

#include "tentacle_unit.h"

Tentacle::Tentacle(DigitalOut* RS485Controller, Serial* RS485) :
	tentacleMotor({
    {RS485Controller, 1, 3, SM, RS485},
    {RS485Controller, 1, 1, SM, RS485},
  }),
  right(PWM3, PWM6),left(PWM8,PWM10),
	debugSerial(USBTX, USBRX, 115200)
{
	tentacleMotor[0].braking = true;
  tentacleMotor[1].braking = true;
}

void Tentacle::rightMove(float speed)
{
  /*if(speed*right.getPosition() < 0)    speed = 0;
  if(speed*right.getPosition() > 0)    right.resetPosition();*/
	tentacleMotor[0].setSpeed(speed);
}

void Tentacle::leftMove(float speed)
{
  /*if(speed*left.getPosition() < 0)    speed = 0;
  if(speed*left.getPosition() > 0)    left.resetPosition();*/
  tentacleMotor[1].setSpeed(speed);
}

void Tentacle::stop()
{
  tentacleMotor[0].setSpeed(0);
  tentacleMotor[1].setSpeed(0);
}

void Tentacle::debugPrint()
{
	debugSerial.printf("right:%d left:%d\r\n",right.getPosition(),left.getPosition());
}