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@55:ccf2ac8f6f32, 2017-11-28 (annotated)

Committer:
number_key
Date:
Tue Nov 28 17:58:04 2017 +0900
Revision:
55:ccf2ac8f6f32
Parent:
54:857390145ac4 
move

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 55:ccf2ac8f6f32 4 elevatorMotor(RS485Controller, 0, 1, SM, RS485),
number_key 55:ccf2ac8f6f32 5 //limit(LIMIT2,LIMIT5)
number_key 55:ccf2ac8f6f32 6 front(LIMIT2),back(LIMIT5)
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 55:ccf2ac8f6f32 13 if(speed*front<0) speed=0;
number_key 55:ccf2ac8f6f32 14 if(speed*back>0) speed=0;
number_key 55:ccf2ac8f6f32 15 // if(speed*limit.getPosition() < 0) speed = 0;
number_key 55:ccf2ac8f6f32 16 // if(speed*limit.getPosition() > 0) limit.resetPosition();
number_key 49:69a7235d837a 17 elevatorMotor.setSpeed(speed);
number_key 49:69a7235d837a 18 }
number_key 49:69a7235d837a 19
number_key 49:69a7235d837a 20 void Elevator::stop()
number_key 49:69a7235d837a 21 {
number_key 49:69a7235d837a 22 elevatorMotor.setSpeed(0);
number_key 49:69a7235d837a 23 }