NagaokaRoboticsClub_mbedTeam / SEKIkikou

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Dependents:   2022_NHK_B_UK 2022_NHK_B_sub2

SEKIkikou.h@6:34f3cf5b05f8, 2022-10-11 (annotated)

Committer:
ikarashikota
Date:
Tue Oct 11 06:45:16 2022 +0000
Revision:
6:34f3cf5b05f8
Parent:
5:ce2415848cb3
Child:
10:10c255272359
fixed injecter function's bug

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
ikarashikota 0:04c98c2cfe16 9 /*サンプルコード
ikarashikota 0:04c98c2cfe16 10
ikarashikota 0:04c98c2cfe16 11
ikarashikota 0:04c98c2cfe16 12 #include "mbed.h"
ikarashikota 0:04c98c2cfe16 13 #include "SEKIkikou.h"
ikarashikota 0:04c98c2cfe16 14
ikarashikota 0:04c98c2cfe16 15 Serial serial(PC_10, PC_11, 115200);
ikarashikota 0:04c98c2cfe16 16
ikarashikota 0:04c98c2cfe16 17 ikarashiMDC motor[] = {
ikarashikota 0:04c98c2cfe16 18 ikarashiMDC(0,0,SM,&serial),
ikarashikota 0:04c98c2cfe16 19 ikarashiMDC(0,1,SM,&serial),
ikarashikota 0:04c98c2cfe16 20 ikarashiMDC(0,2,SM,&serial),
ikarashikota 0:04c98c2cfe16 21 };
ikarashikota 0:04c98c2cfe16 22
ikarashikota 0:04c98c2cfe16 23 int main(){
ikarashikota 0:04c98c2cfe16 24 uint8_t b[4];
ikarashikota 0:04c98c2cfe16 25 int env[3];
ikarashikota 0:04c98c2cfe16 26 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 27
ikarashikota 0:04c98c2cfe16 28 for(int i=0; i<4; i++){
ikarashikota 0:04c98c2cfe16 29 b[i] = 0;
ikarashikota 0:04c98c2cfe16 30 if(i < 3) env[i] = 0;
ikarashikota 0:04c98c2cfe16 31 }
ikarashikota 0:04c98c2cfe16 32
ikarashikota 0:04c98c2cfe16 33 while(1){
ikarashikota 0:04c98c2cfe16 34 seki.runLift(0.1);
ikarashikota 0:04c98c2cfe16 35 }
ikarashikota 0:04c98c2cfe16 36 }
ikarashikota 0:04c98c2cfe16 37
ikarashikota 0:04c98c2cfe16 38 */
ikarashikota 0:04c98c2cfe16 39
ikarashikota 0:04c98c2cfe16 40 class SEKIkikou
ikarashikota 0:04c98c2cfe16 41 {
ikarashikota 0:04c98c2cfe16 42 public:
ikarashikota 0:04c98c2cfe16 43
ikarashikota 0:04c98c2cfe16 44 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 45
ikarashikota 1:fab774f63278 46 void 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 1:fab774f63278 47
ikarashikota 0:04c98c2cfe16 48 void runAll(float speedI, float speedLoad, float speedLift);
ikarashikota 0:04c98c2cfe16 49
ikarashikota 0:04c98c2cfe16 50 void runInjection(float speed);
ikarashikota 0:04c98c2cfe16 51
ikarashikota 0:04c98c2cfe16 52 void runLoad(float speed);
ikarashikota 0:04c98c2cfe16 53
ikarashikota 0:04c98c2cfe16 54 void runLift(float speed);
ikarashikota 1:fab774f63278 55
ikarashikota 1:fab774f63278 56 void stopAll();
ikarashikota 0:04c98c2cfe16 57
ikarashikota 0:04c98c2cfe16 58 private:
ikarashikota 0:04c98c2cfe16 59 Timer timer;
ikarashikota 0:04c98c2cfe16 60 uint8_t *button[4];
ikarashikota 0:04c98c2cfe16 61 int *encoder[3];
ikarashikota 6:34f3cf5b05f8 62 int encoderAngle[3];
umekou 5:ce2415848cb3 63 float mspeed[3];
ikarashikota 3:e62282fc7cf6 64 bool injecterFlag;
ikarashikota 0:04c98c2cfe16 65 ikarashiMDC *ik[3];
ikarashikota 0:04c98c2cfe16 66 };
ikarashikota 0:04c98c2cfe16 67
ikarashikota 0:04c98c2cfe16 68 #endif