NagaokaRoboticsClub_mbedTeam / Mbed OS NHK2017_octopus2_arms

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Dependencies:   2017NHKpin_config FEP ikarashiMDC

Fork of NHK2017_octopus2 by NagaokaRoboticsClub_mbedTeam

Diff: bot/slider/slider.cpp

Revision:
9:39be1525dfe0
Child:
15:9aa11febe517
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/bot/slider/slider.cpp	Thu Sep 07 17:37:41 2017 +0900
@@ -0,0 +1,28 @@
+#include "slider.h"
+
+Slider::Slider(DigitalOut* RS485Controller, Serial* RS485) :
+	slideMotor(RS485Controller, 1, 0, SM, RS485),
+	encoder(Sensor4pin1a, Sensor4pin1b, NC, PULSES_PER_REV),
+	limitSwitch(Sensor3pin3a),
+	solenoid(solenoidPin)
+{
+	slideMotor.braking = true;
+	encoder.reset();
+
+	limitSwitch.rise(callback(this, &Slider::resetheight));
+}
+
+void Slider::resetheight()
+{
+	encoder.reset();
+}
+
+void Slider::slide(float speed)
+{
+	slideMotor.setSpeed(speed);
+}
+
+void Slider::release()
+{
+	solenoid = 1;
+}