タコ 腕
Dependencies: 2017NHKpin_config FEP ikarashiMDC
Fork of NHK2017_octopus2 by
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?
User | Revision | Line number | New contents of line |
---|---|---|---|
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49:69a7235d837a | 1 | #include "elevator.h" |
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49:69a7235d837a | 2 | |
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49:69a7235d837a | 3 | Elevator::Elevator(DigitalOut* RS485Controller, Serial* RS485) : |
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49:69a7235d837a | 4 | elevatorMotor(RS485Controller, 1, 2, SM, RS485), |
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54:857390145ac4 | 5 | limit(LIMIT4, LIMIT5), |
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49:69a7235d837a | 6 | debugSerial(USBTX, USBRX, 115200) |
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49:69a7235d837a | 7 | { |
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49:69a7235d837a | 8 | elevatorMotor.braking = true; |
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49:69a7235d837a | 9 | } |
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49:69a7235d837a | 10 | |
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49:69a7235d837a | 11 | void Elevator::move(float speed) |
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49:69a7235d837a | 12 | { |
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49:69a7235d837a | 13 | if(speed*limit.getPosition() < 0) speed = 0; |
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49:69a7235d837a | 14 | if(speed*limit.getPosition() > 0) limit.resetPosition(); |
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49:69a7235d837a | 15 | elevatorMotor.setSpeed(speed); |
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49:69a7235d837a | 16 | } |
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49:69a7235d837a | 17 | |
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49:69a7235d837a | 18 | void Elevator::stop() |
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49:69a7235d837a | 19 | { |
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49:69a7235d837a | 20 | elevatorMotor.setSpeed(0); |
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49:69a7235d837a | 21 | } |
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49:69a7235d837a | 22 | |
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49:69a7235d837a | 23 | void Elevator::debugPrint() |
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49:69a7235d837a | 24 | { |
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49:69a7235d837a | 25 | debugSerial.printf("elevator:%d\r\f",limit.getPosition()); |
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49:69a7235d837a | 26 | } |