タコ 腕
Dependencies: 2017NHKpin_config FEP ikarashiMDC
Fork of NHK2017_octopus2 by
bot/elevator/elevator.cpp
- Committer:
- number_key
- Date:
- 2017-11-28
- Revision:
- 55:ccf2ac8f6f32
- Parent:
- 54:857390145ac4
File content as of revision 55:ccf2ac8f6f32:
#include "elevator.h" Elevator::Elevator(DigitalOut* RS485Controller, Serial* RS485) : elevatorMotor(RS485Controller, 0, 1, SM, RS485), //limit(LIMIT2,LIMIT5) front(LIMIT2),back(LIMIT5) { elevatorMotor.braking = true; } void Elevator::move(float speed) { if(speed*front<0) speed=0; if(speed*back>0) speed=0; // if(speed*limit.getPosition() < 0) speed = 0; // if(speed*limit.getPosition() > 0) limit.resetPosition(); elevatorMotor.setSpeed(speed); } void Elevator::stop() { elevatorMotor.setSpeed(0); }