NagaokaRoboticsClub_mbedTeam / Mbed OS NHK2017_octopus2_arms

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Dependencies:   2017NHKpin_config FEP ikarashiMDC

Fork of NHK2017_octopus2 by NagaokaRoboticsClub_mbedTeam

bot/slider/slider.cpp

Committer:
UCHITAKE
Date:
2017-09-17
Branch:
develop1
Revision:
15:9aa11febe517
Parent:
9:39be1525dfe0
Child:
16:50651ff960b9

File content as of revision 15:9aa11febe517:

#include "slider.h"

Slider::Slider(DigitalOut* RS485Controller, Serial* RS485) :
	slideMotor(RS485Controller, 1, 0, SM, RS485),
	encoder(Sensor4pin1a, Sensor4pin1b, NC, PULSES_PER_REV),
	limitSwitch(Sensor3pin3a)
{
	slideMotor.braking = true;
	encoder.reset();

	limitSwitch.rise(callback(this, &Slider::resetheight));
}

void Slider::resetheight()
{
	encoder.reset();
}

void Slider::slide(float speed)
{
	slideMotor.setSpeed(speed);
}