NagaokaRoboticsClub_mbedTeam / NHK2021_ikarashiSV

NHK2021_ikarashiSolenoidValve

Dependents:   NHK2021_ikarashiSV_code NHK2021_ikarashiSV_code_withservo 2021NHK_B_syudo

ikarashiSV.cpp@7:58da8ee2b38d, 2021-10-22 (annotated)

Committer:
ikarashikota
Date:
Fri Oct 22 07:59:13 2021 +0000
Revision:
7:58da8ee2b38d
Parent:
6:256162828e87
Child:
8:f276fe03c43d
add under SV code

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ikarashikota 0:2b253298d427 1 #include "ikarashiSV.h"
ikarashikota 0:2b253298d427 2
ikarashikota 0:2b253298d427 3 ikarashiSV::ikarashiSV(PinName pin_a,PinName pin_b,PinName pin_c,PinName pin_d):
ikarashikota 0:2b253298d427 4 port_a(pin_a), port_b(pin_b), port_c(pin_c), port_d(pin_d)
ikarashikota 0:2b253298d427 5 {
ikarashikota 0:2b253298d427 6 state = 0;
ikarashikota 0:2b253298d427 7 solenoid_status = 0;
ikarashikota 0:2b253298d427 8 }
ikarashikota 0:2b253298d427 9
ikarashikota 0:2b253298d427 10 void ikarashiSV::add_state()
ikarashikota 0:2b253298d427 11 {
ikarashikota 0:2b253298d427 12 state++;
ikarashikota 0:2b253298d427 13 }
ikarashikota 0:2b253298d427 14
ikarashikota 0:2b253298d427 15 void ikarashiSV::solenoid(int _state)
ikarashikota 0:2b253298d427 16 {
ikarashikota 0:2b253298d427 17 switch(_state) {
ikarashikota 0:2b253298d427 18 case 1:
ikarashikota 4:6d421db6e727 19 //投げる
ikarashikota 3:1fc2008f3a07 20 port_a = 0;
ikarashikota 3:1fc2008f3a07 21 port_b = 1;
ikarashikota 3:1fc2008f3a07 22 port_c = 0;
ikarashikota 3:1fc2008f3a07 23 port_d = 1;
ikarashikota 6:256162828e87 24 solenoid_status = 1;
ikarashikota 0:2b253298d427 25 break;
ikarashikota 4:6d421db6e727 26 case 2:
ikarashikota 0:2b253298d427 27 //戻る
ikarashikota 3:1fc2008f3a07 28 port_c = 1;
ikarashikota 3:1fc2008f3a07 29 port_d = 0;
ikarashikota 3:1fc2008f3a07 30 port_a = 1;
ikarashikota 3:1fc2008f3a07 31 port_b = 0;
ikarashikota 6:256162828e87 32 solenoid_status = 2;
ikarashikota 0:2b253298d427 33 break;
ikarashikota 4:6d421db6e727 34 case 0://禅開放
ikarashikota 4:6d421db6e727 35 port_c = 0;
ikarashikota 4:6d421db6e727 36 port_d = 1;
ikarashikota 6:256162828e87 37 solenoid_status = 0;
ikarashikota 4:6d421db6e727 38 break;
ikarashikota 0:2b253298d427 39 }
ikarashikota 0:2b253298d427 40 }
ikarashikota 0:2b253298d427 41
ikarashikota 0:2b253298d427 42 void ikarashiSV::solenoid_show()
ikarashikota 0:2b253298d427 43 {
ikarashikota 0:2b253298d427 44 switch(solenoid_status) {
ikarashikota 0:2b253298d427 45 case 1:
ikarashikota 7:58da8ee2b38d 46 printf("1:push");
ikarashikota 0:2b253298d427 47 break;
ikarashikota 0:2b253298d427 48 case 2:
ikarashikota 7:58da8ee2b38d 49 printf("1:pull");
ikarashikota 0:2b253298d427 50 break;
ikarashikota 0:2b253298d427 51 case 0:
ikarashikota 7:58da8ee2b38d 52 printf("1:open");
ikarashikota 0:2b253298d427 53 break;
ikarashikota 0:2b253298d427 54 }
ikarashikota 0:2b253298d427 55 }
ikarashikota 0:2b253298d427 56
ikarashikota 0:2b253298d427 57 int ikarashiSV::state_show()
ikarashikota 0:2b253298d427 58 {
ikarashikota 0:2b253298d427 59 return state;
ikarashikota 0:2b253298d427 60 }
ikarashikota 0:2b253298d427 61
ikarashikota 7:58da8ee2b38d 62
ikarashikota 7:58da8ee2b38d 63 ikarashiSV2::ikarashiSV2(PinName pin_e, PinName pin_f):
ikarashikota 7:58da8ee2b38d 64 port_e(pin_e),port_f(pin_f)
ikarashikota 7:58da8ee2b38d 65 {
ikarashikota 7:58da8ee2b38d 66 solenoid_status2 = 0;
ikarashikota 7:58da8ee2b38d 67 }
ikarashikota 7:58da8ee2b38d 68
ikarashikota 7:58da8ee2b38d 69 void ikarashiSV2::solenoid(int _state2)
ikarashikota 7:58da8ee2b38d 70 {
ikarashikota 7:58da8ee2b38d 71 switch(_state2) {
ikarashikota 7:58da8ee2b38d 72 case 1:
ikarashikota 7:58da8ee2b38d 73 port_e = 0;
ikarashikota 7:58da8ee2b38d 74 port_f = 1;
ikarashikota 7:58da8ee2b38d 75 solenoid_status2 = 1;
ikarashikota 7:58da8ee2b38d 76 break;
ikarashikota 7:58da8ee2b38d 77 case 0;
ikarashikota 7:58da8ee2b38d 78 port_e = 1;
ikarashikota 7:58da8ee2b38d 79 port_f = 0;
ikarashikota 7:58da8ee2b38d 80 solenoid_status2 = 0;
ikarashikota 7:58da8ee2b38d 81 break;
ikarashikota 7:58da8ee2b38d 82 }
ikarashikota 7:58da8ee2b38d 83 }
ikarashikota 7:58da8ee2b38d 84
ikarashikota 7:58da8ee2b38d 85 void ikarashiSV2::solenoid_show()
ikarashikota 7:58da8ee2b38d 86 {
ikarashikota 7:58da8ee2b38d 87 if(solenoid_status2) {
ikarashikota 7:58da8ee2b38d 88 printf("2:push");
ikarashikota 7:58da8ee2b38d 89 } else {
ikarashikota 7:58da8ee2b38d 90 printf("2:pull");
ikarashikota 7:58da8ee2b38d 91 }
ikarashikota 7:58da8ee2b38d 92 }
ikarashikota 7:58da8ee2b38d 93
ikarashikota 0:2b253298d427 94 /* サンプルコード
ikarashikota 0:2b253298d427 95
ikarashikota 0:2b253298d427 96 #include "mbed.h"
ikarashikota 0:2b253298d427 97 #include "ikarashiSV.h"
ikarashikota 0:2b253298d427 98
ikarashikota 0:2b253298d427 99 Serial pc(USBTX, USBRX,115200);
ikarashikota 0:2b253298d427 100
ikarashikota 1:696f7c0ab1bd 101 ikarashiSV slv(PC_7,PB_10,PB_4,PB_5);
ikarashikota 0:2b253298d427 102
ikarashikota 1:696f7c0ab1bd 103 //ボタンを押したときor離したときを読み取る定義の仕方
ikarashikota 0:2b253298d427 104 InterruptIn button(USER_BUTTON);
ikarashikota 0:2b253298d427 105
ikarashikota 0:2b253298d427 106 void add()
ikarashikota 0:2b253298d427 107 {
ikarashikota 0:2b253298d427 108 slv.add_state();
ikarashikota 0:2b253298d427 109 }
ikarashikota 0:2b253298d427 110
ikarashikota 0:2b253298d427 111 int main()
ikarashikota 0:2b253298d427 112 {
ikarashikota 0:2b253298d427 113 int val;
ikarashikota 0:2b253298d427 114 while(1) {
ikarashikota 0:2b253298d427 115 button.fall(&add);
ikarashikota 0:2b253298d427 116 val = slv.state_show();
ikarashikota 0:2b253298d427 117 pc.printf("\t\tstate : %d",val);
ikarashikota 0:2b253298d427 118 if(val >= 1) {
ikarashikota 0:2b253298d427 119 slv.solenoid(val%3);
ikarashikota 0:2b253298d427 120 }
ikarashikota 0:2b253298d427 121 slv.solenoid_show();
ikarashikota 0:2b253298d427 122 }
ikarashikota 0:2b253298d427 123 }
ikarashikota 0:2b253298d427 124
ikarashikota 0:2b253298d427 125 */