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/slider/slider.h

Committer:
uchitake
Date:
2017-09-28
Branch:
develop1
Revision:
18:78df87e20590
Parent:
16:50651ff960b9
Child:
37:6b6616008e78

File content as of revision 18:78df87e20590:

#ifndef SLIDER_H
#define SLIDER_H

#include "mbed.h"
#include "pin_config.h"
#include "ikarashiMDC.h"
#include "QEI.h"

const int PULSES_PER_REV = 720;
const int MAX_HEIGHT = 4700;

class Slider {
public:
	Slider(DigitalOut* RS485Controller, Serial *RS485);

	void slide(float speed);
private:
	void resetheight();
	bool isReseted;

	ikarashiMDC slideMotor;
	QEI encoder;
	InterruptIn limitSwitch;
	Serial slideSerial;
};

#endif