NagaokaRoboticsClub_mbedTeam / SEKIkikou

I don't know if it work properly

Dependents:   2022_NHK_B_UK 2022_NHK_B_sub2

SEKIkikou.cpp@4:d3814c6e3694, 2022-10-09 (annotated)

Committer:
ikarashikota
Date:
Sun Oct 09 14:37:06 2022 +0000
Revision:
4:d3814c6e3694
Parent:
3:e62282fc7cf6
Child:
6:34f3cf5b05f8
adjusted 2

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ikarashikota 0:04c98c2cfe16 1
ikarashikota 0:04c98c2cfe16 2 #include "SEKIkikou.h"
ikarashikota 0:04c98c2cfe16 3
ikarashikota 0:04c98c2cfe16 4 SEKIkikou::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 1:fab774f63278 5 init(ik1, ik2, ik3, b1, b2, b3, b4, env1, env2, env3);
ikarashikota 1:fab774f63278 6 }
ikarashikota 1:fab774f63278 7
ikarashikota 1:fab774f63278 8 void SEKIkikou::init(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 9 ik[0] = ik1; //射出
ikarashikota 0:04c98c2cfe16 10 ik[1] = ik2; //将校
ikarashikota 0:04c98c2cfe16 11 ik[2] = ik3; //装填
ikarashikota 0:04c98c2cfe16 12 button[0] = b1; //射出
ikarashikota 0:04c98c2cfe16 13 button[1] = b2; //上
ikarashikota 0:04c98c2cfe16 14 button[2] = b3; //下
ikarashikota 0:04c98c2cfe16 15 button[3] = b4; //装填
ikarashikota 0:04c98c2cfe16 16 encoder[0] = env1; //射出
ikarashikota 0:04c98c2cfe16 17 encoder[1] = env2; //将校
ikarashikota 0:04c98c2cfe16 18 encoder[2] = env3; //装填
ikarashikota 0:04c98c2cfe16 19 for(int i=0; i<3; i++) mspeed[i] = 0;
ikarashikota 3:e62282fc7cf6 20 injecterFlag = false;
ikarashikota 0:04c98c2cfe16 21 }
ikarashikota 0:04c98c2cfe16 22
ikarashikota 0:04c98c2cfe16 23 void SEKIkikou::runAll(float speedI, float speedLoad, float speedLift)
ikarashikota 0:04c98c2cfe16 24 {
ikarashikota 0:04c98c2cfe16 25 runInjection(speedI);
ikarashikota 0:04c98c2cfe16 26 runLoad(speedLoad);
ikarashikota 0:04c98c2cfe16 27 runLift(speedLift);
ikarashikota 0:04c98c2cfe16 28 }
ikarashikota 0:04c98c2cfe16 29
ikarashikota 1:fab774f63278 30 void SEKIkikou::stopAll(){
ikarashikota 2:5306c227e18b 31 //init(NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL);
ikarashikota 2:5306c227e18b 32 for(int i=0; i<4; i++){
ikarashikota 2:5306c227e18b 33 button[i] = NULL;
ikarashikota 2:5306c227e18b 34 if(i < 3){
ikarashikota 2:5306c227e18b 35 encoder[i] = NULL;
ikarashikota 4:d3814c6e3694 36 mspeed[i] = 0;
ikarashikota 2:5306c227e18b 37 }
ikarashikota 2:5306c227e18b 38 }
ikarashikota 1:fab774f63278 39 }
ikarashikota 1:fab774f63278 40
ikarashikota 0:04c98c2cfe16 41 void SEKIkikou::runInjection(float speed)
ikarashikota 0:04c98c2cfe16 42 {
ikarashikota 0:04c98c2cfe16 43 ik[0]->setSpeed(mspeed[0]);
ikarashikota 0:04c98c2cfe16 44 if(timer.read() >= 1){
ikarashikota 0:04c98c2cfe16 45 *encoder[0] = 0;
ikarashikota 0:04c98c2cfe16 46 timer.reset();
ikarashikota 0:04c98c2cfe16 47 }else{
ikarashikota 0:04c98c2cfe16 48 mspeed[0] = 0;
ikarashikota 0:04c98c2cfe16 49 }
ikarashikota 3:e62282fc7cf6 50 if(*button[0] <= 0 && !injecterFlag){
ikarashikota 0:04c98c2cfe16 51 mspeed[0] = 0;
ikarashikota 0:04c98c2cfe16 52 return;
ikarashikota 0:04c98c2cfe16 53 }
ikarashikota 0:04c98c2cfe16 54 if(*encoder[0] < 360){
ikarashikota 0:04c98c2cfe16 55 mspeed[0] = speed;
ikarashikota 3:e62282fc7cf6 56 injecterFlag = true;
ikarashikota 0:04c98c2cfe16 57 }else if(*encoder[0] >= 360){
ikarashikota 0:04c98c2cfe16 58 timer.start();
ikarashikota 0:04c98c2cfe16 59 mspeed[0] = 0;
ikarashikota 3:e62282fc7cf6 60 injecterFlag = false;
ikarashikota 0:04c98c2cfe16 61 }
ikarashikota 0:04c98c2cfe16 62 }
ikarashikota 0:04c98c2cfe16 63
ikarashikota 0:04c98c2cfe16 64 void SEKIkikou::runLoad(float speed)
ikarashikota 0:04c98c2cfe16 65 {
ikarashikota 0:04c98c2cfe16 66 ik[2]->setSpeed(mspeed[2]);
ikarashikota 0:04c98c2cfe16 67 if(*button[3] <= 0){
ikarashikota 0:04c98c2cfe16 68 mspeed[2] = 0;
ikarashikota 0:04c98c2cfe16 69 return;
ikarashikota 0:04c98c2cfe16 70 }else if(*button[3] >= 1){
ikarashikota 0:04c98c2cfe16 71 mspeed[2] = speed;
ikarashikota 0:04c98c2cfe16 72 }else{
ikarashikota 0:04c98c2cfe16 73 mspeed[2] = 0;
ikarashikota 0:04c98c2cfe16 74 }
ikarashikota 0:04c98c2cfe16 75 }
ikarashikota 0:04c98c2cfe16 76
ikarashikota 0:04c98c2cfe16 77 void SEKIkikou::runLift(float speed)
ikarashikota 0:04c98c2cfe16 78 {
ikarashikota 0:04c98c2cfe16 79 ik[1]->setSpeed(mspeed[1]);
ikarashikota 0:04c98c2cfe16 80 if(*button[1] <= 0 && *button[2] <= 0){
ikarashikota 0:04c98c2cfe16 81 mspeed[1] = 0;
ikarashikota 0:04c98c2cfe16 82 return;
ikarashikota 0:04c98c2cfe16 83 }else if(*button[1] >= 1){
ikarashikota 0:04c98c2cfe16 84 mspeed[1] = speed;
ikarashikota 0:04c98c2cfe16 85 }else if(*button[2] >= 1){
ikarashikota 0:04c98c2cfe16 86 mspeed[1] = -speed;
ikarashikota 0:04c98c2cfe16 87 }else{
ikarashikota 0:04c98c2cfe16 88 mspeed[1] = 0;
ikarashikota 0:04c98c2cfe16 89 }
ikarashikota 0:04c98c2cfe16 90 }