NagaokaRoboticsClub_mbedTeam / SEKIkikou

I don't know if it work properly

Dependents:   2022_NHK_B_UK 2022_NHK_B_sub2

SEKIkikou.h@0:04c98c2cfe16, 2022-10-09 (annotated)

Committer:
ikarashikota
Date:
Sun Oct 09 10:13:01 2022 +0000
Revision:
0:04c98c2cfe16
Child:
1:fab774f63278
made by ikakou

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ikarashikota 0:04c98c2cfe16 1
ikarashikota 0:04c98c2cfe16 2 #ifndef SEKIKIKOU
ikarashikota 0:04c98c2cfe16 3
ikarashikota 0:04c98c2cfe16 4 #define SEKIKIKOU
ikarashikota 0:04c98c2cfe16 5
ikarashikota 0:04c98c2cfe16 6 #include "mbed.h"
ikarashikota 0:04c98c2cfe16 7 #include "ikarashiMDC.h"
ikarashikota 0:04c98c2cfe16 8 #include "QEI.h"
ikarashikota 0:04c98c2cfe16 9
ikarashikota 0:04c98c2cfe16 10 /*サンプルコード
ikarashikota 0:04c98c2cfe16 11
ikarashikota 0:04c98c2cfe16 12
ikarashikota 0:04c98c2cfe16 13 #include "mbed.h"
ikarashikota 0:04c98c2cfe16 14 #include "SEKIkikou.h"
ikarashikota 0:04c98c2cfe16 15
ikarashikota 0:04c98c2cfe16 16 Serial serial(PC_10, PC_11, 115200);
ikarashikota 0:04c98c2cfe16 17
ikarashikota 0:04c98c2cfe16 18 ikarashiMDC motor[] = {
ikarashikota 0:04c98c2cfe16 19 ikarashiMDC(0,0,SM,&serial),
ikarashikota 0:04c98c2cfe16 20 ikarashiMDC(0,1,SM,&serial),
ikarashikota 0:04c98c2cfe16 21 ikarashiMDC(0,2,SM,&serial),
ikarashikota 0:04c98c2cfe16 22 };
ikarashikota 0:04c98c2cfe16 23
ikarashikota 0:04c98c2cfe16 24 int main(){
ikarashikota 0:04c98c2cfe16 25 uint8_t b[4];
ikarashikota 0:04c98c2cfe16 26 int env[3];
ikarashikota 0:04c98c2cfe16 27 SEKIkikou seki(&motor[0], &motor[1], &motor[2], &b[0], &b[1], &b[2], &b[3], &env[0], &env[1], &env[2]);
ikarashikota 0:04c98c2cfe16 28
ikarashikota 0:04c98c2cfe16 29 for(int i=0; i<4; i++){
ikarashikota 0:04c98c2cfe16 30 b[i] = 0;
ikarashikota 0:04c98c2cfe16 31 if(i < 3) env[i] = 0;
ikarashikota 0:04c98c2cfe16 32 }
ikarashikota 0:04c98c2cfe16 33
ikarashikota 0:04c98c2cfe16 34 while(1){
ikarashikota 0:04c98c2cfe16 35 seki.runLift(0.1);
ikarashikota 0:04c98c2cfe16 36 }
ikarashikota 0:04c98c2cfe16 37 }
ikarashikota 0:04c98c2cfe16 38
ikarashikota 0:04c98c2cfe16 39 */
ikarashikota 0:04c98c2cfe16 40
ikarashikota 0:04c98c2cfe16 41 class SEKIkikou
ikarashikota 0:04c98c2cfe16 42 {
ikarashikota 0:04c98c2cfe16 43 public:
ikarashikota 0:04c98c2cfe16 44
ikarashikota 0:04c98c2cfe16 45 SEKIkikou(ikarashiMDC *ik1, ikarashiMDC *ik2, ikarashiMDC *ik3, uint8_t *b1, uint8_t *b2, uint8_t *b3, uint8_t *b4, int *env1, int *env2, int *env3);
ikarashikota 0:04c98c2cfe16 46
ikarashikota 0:04c98c2cfe16 47 void runAll(float speedI, float speedLoad, float speedLift);
ikarashikota 0:04c98c2cfe16 48
ikarashikota 0:04c98c2cfe16 49 void runInjection(float speed);
ikarashikota 0:04c98c2cfe16 50
ikarashikota 0:04c98c2cfe16 51 void runLoad(float speed);
ikarashikota 0:04c98c2cfe16 52
ikarashikota 0:04c98c2cfe16 53 void runLift(float speed);
ikarashikota 0:04c98c2cfe16 54
ikarashikota 0:04c98c2cfe16 55 private:
ikarashikota 0:04c98c2cfe16 56 Timer timer;
ikarashikota 0:04c98c2cfe16 57 uint8_t *button[4];
ikarashikota 0:04c98c2cfe16 58 int *encoder[3];
ikarashikota 0:04c98c2cfe16 59 int mspeed[3];
ikarashikota 0:04c98c2cfe16 60 ikarashiMDC *ik[3];
ikarashikota 0:04c98c2cfe16 61 };
ikarashikota 0:04c98c2cfe16 62
ikarashikota 0:04c98c2cfe16 63 #endif