NagaokaRoboticsClub_mbedTeam / NHK2021_ikarashiSV

NHK2021_ikarashiSolenoidValve

Dependents:   NHK2021_ikarashiSV_code NHK2021_ikarashiSV_code_withservo 2021NHK_B_syudo

ikarashiSV.h@8:f276fe03c43d, 2021-10-23 (annotated)

Committer:
ikarashikota
Date:
Sat Oct 23 03:38:23 2021 +0000
Revision:
8:f276fe03c43d
Parent:
7:58da8ee2b38d
Child:
9:252dd0bc8f93
add solenoid class

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ikarashikota 0:2b253298d427 1 /** @ikarashiSV.h
ikarashikota 0:2b253298d427 2 *
ikarashikota 0:2b253298d427 3 * NHK2021Bチーム　電磁弁のライブラリです
ikarashikota 0:2b253298d427 4 * @attention 回路が悪いのか電磁弁が悪いのかわかりませんが、訳あってpin_c,pin_dの代入値を本来とは逆にしています。
ikarashikota 1:696f7c0ab1bd 5 * 追記　　なんか治りました
ikarashikota 0:2b253298d427 6 */
ikarashikota 0:2b253298d427 7 #ifndef ikarashi_SOLENOID
ikarashikota 0:2b253298d427 8 #define ikarashi_SOLENOID
ikarashikota 0:2b253298d427 9
ikarashikota 0:2b253298d427 10 #include "mbed.h"
ikarashikota 0:2b253298d427 11
ikarashikota 0:2b253298d427 12 /** ikrashiSV
ikarashikota 0:2b253298d427 13 *
ikarashikota 0:2b253298d427 14 * 電磁弁が動かせます
ikarashikota 0:2b253298d427 15 */
ikarashikota 0:2b253298d427 16 class ikarashiSV
ikarashikota 0:2b253298d427 17 {
ikarashikota 0:2b253298d427 18 public:
ikarashikota 0:2b253298d427 19
ikarashikota 0:2b253298d427 20 /** コンストラクタ
ikarashikota 0:2b253298d427 21 *
ikarashikota 0:2b253298d427 22 * @param pin_a 下の電磁弁
ikarashikota 0:2b253298d427 23 * @param pin_b ↑同じ
ikarashikota 0:2b253298d427 24 *
ikarashikota 0:2b253298d427 25 * @param pin_c 上の電磁弁
ikarashikota 0:2b253298d427 26 * @param pin_d ↑同じ
ikarashikota 0:2b253298d427 27 */
ikarashikota 0:2b253298d427 28 ikarashiSV(PinName pin_a,PinName pin_b,PinName pin_c,PinName pin_d);
ikarashikota 0:2b253298d427 29
ikarashikota 0:2b253298d427 30 /** 使っても使わなくてもいいやつ
ikarashikota 0:2b253298d427 31 *
ikarashikota 0:2b253298d427 32 * state って言いう変数に+1します（state初期値0）
ikarashikota 0:2b253298d427 33 */
ikarashikota 0:2b253298d427 34 void add_state();
ikarashikota 0:2b253298d427 35
ikarashikota 0:2b253298d427 36 /** 大本命関数
ikarashikota 0:2b253298d427 37 *
ikarashikota 5:1ef248a66820 38 * _state = 1　・・・ 投げる
ikarashikota 5:1ef248a66820 39 * _state = 2　・・・ 戻る
ikarashikota 5:1ef248a66820 40 * _state = 0　・・・ 開放
ikarashikota 0:2b253298d427 41 * @param _state 条件分岐用変数
ikarashikota 0:2b253298d427 42 */
ikarashikota 0:2b253298d427 43 void solenoid(int _state);
ikarashikota 0:2b253298d427 44
ikarashikota 0:2b253298d427 45 /** 電磁弁の状態を確認する関数
ikarashikota 0:2b253298d427 46 * 押していたらpushで、引いていたらpullです
ikarashikota 0:2b253298d427 47 */
ikarashikota 0:2b253298d427 48 void solenoid_show();
ikarashikota 0:2b253298d427 49
ikarashikota 0:2b253298d427 50 /** 使わなくてもいい（n回目）
ikarashikota 0:2b253298d427 51 *
ikarashikota 0:2b253298d427 52 * @return state を返します
ikarashikota 0:2b253298d427 53 */
ikarashikota 0:2b253298d427 54 int state_show();
ikarashikota 0:2b253298d427 55 private:
ikarashikota 0:2b253298d427 56 int state;
ikarashikota 0:2b253298d427 57 int _state;
ikarashikota 0:2b253298d427 58 int solenoid_status;
ikarashikota 0:2b253298d427 59 DigitalOut port_a;//1　下の電磁弁
ikarashikota 0:2b253298d427 60 DigitalOut port_b;//
ikarashikota 0:2b253298d427 61
ikarashikota 0:2b253298d427 62 DigitalOut port_c;//2　上の電磁弁
ikarashikota 0:2b253298d427 63 DigitalOut port_d;//
ikarashikota 0:2b253298d427 64 };
ikarashikota 0:2b253298d427 65
ikarashikota 8:f276fe03c43d 66 /** ikarashiSV2
ikarashikota 8:f276fe03c43d 67 * 下のエアシリンダー用のクラスです。
ikarashikota 8:f276fe03c43d 68 * １個目のクラスとほとんど同じです
ikarashikota 8:f276fe03c43d 69 */
ikarashikota 7:58da8ee2b38d 70 class ikarashiSV2{
ikarashikota 8:f276fe03c43d 71 public:
ikarashikota 7:58da8ee2b38d 72 ikarashiSV2(PinName pin_e, PinName pin_f);
ikarashikota 7:58da8ee2b38d 73 void solenoid(int _state2);
ikarashikota 7:58da8ee2b38d 74 void solenoid_show();
ikarashikota 7:58da8ee2b38d 75 private:
ikarashikota 7:58da8ee2b38d 76 int solenoid_status2;
ikarashikota 7:58da8ee2b38d 77 DigitalOut port_e;
ikarashikota 7:58da8ee2b38d 78 DigitalOut port_f;
ikarashikota 7:58da8ee2b38d 79 };
ikarashikota 7:58da8ee2b38d 80
ikarashikota 0:2b253298d427 81 #endif