NagaokaRoboticsClub_mbedTeam / Mbed OS NHK2017_octopus2_arms

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Dependencies:   2017NHKpin_config FEP ikarashiMDC

Fork of NHK2017_octopus2 by NagaokaRoboticsClub_mbedTeam

bot/elevator/elevator.cpp@54:857390145ac4, 2017-11-23 (annotated)

Committer:
number_key
Date:
Thu Nov 23 14:59:59 2017 +0900
Revision:
54:857390145ac4
Parent:
49:69a7235d837a
Child:
55:ccf2ac8f6f32
first success

Who changed what in which revision?

UserRevisionLine numberNew contents of line
number_key 49:69a7235d837a 1 #include "elevator.h"
number_key 49:69a7235d837a 2
number_key 49:69a7235d837a 3 Elevator::Elevator(DigitalOut* RS485Controller, Serial* RS485) :
number_key 49:69a7235d837a 4 elevatorMotor(RS485Controller, 1, 2, SM, RS485),
number_key 54:857390145ac4 5 limit(LIMIT4, LIMIT5),
number_key 49:69a7235d837a 6 debugSerial(USBTX, USBRX, 115200)
number_key 49:69a7235d837a 7 {
number_key 49:69a7235d837a 8 elevatorMotor.braking = true;
number_key 49:69a7235d837a 9 }
number_key 49:69a7235d837a 10
number_key 49:69a7235d837a 11 void Elevator::move(float speed)
number_key 49:69a7235d837a 12 {
number_key 49:69a7235d837a 13 if(speed*limit.getPosition() < 0) speed = 0;
number_key 49:69a7235d837a 14 if(speed*limit.getPosition() > 0) limit.resetPosition();
number_key 49:69a7235d837a 15 elevatorMotor.setSpeed(speed);
number_key 49:69a7235d837a 16 }
number_key 49:69a7235d837a 17
number_key 49:69a7235d837a 18 void Elevator::stop()
number_key 49:69a7235d837a 19 {
number_key 49:69a7235d837a 20 elevatorMotor.setSpeed(0);
number_key 49:69a7235d837a 21 }
number_key 49:69a7235d837a 22
number_key 49:69a7235d837a 23 void Elevator::debugPrint()
number_key 49:69a7235d837a 24 {
number_key 49:69a7235d837a 25 debugSerial.printf("elevator:%d\r\f",limit.getPosition());
number_key 49:69a7235d837a 26 }