Diff: SEKIkikou.cpp

Revision:

0:04c98c2cfe16

Child:

1:fab774f63278

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/SEKIkikou.cpp	Sun Oct 09 10:13:01 2022 +0000
@@ -0,0 +1,72 @@
+
+#include "SEKIkikou.h"
+
+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){
+    ik[0] = ik1; //射出
+    ik[1] = ik2; //将校
+    ik[2] = ik3; //装填
+    button[0] = b1; //射出
+    button[1] = b2; //上
+    button[2] = b3; //下
+    button[3] = b4; //装填
+    encoder[0] = env1; //射出
+    encoder[1] = env2; //将校
+    encoder[2] = env3; //装填
+    for(int i=0; i<3; i++) mspeed[i] = 0;
+}
+
+void SEKIkikou::runAll(float speedI, float speedLoad, float speedLift)
+{
+    runInjection(speedI);
+    runLoad(speedLoad);
+    runLift(speedLift);
+}
+
+void SEKIkikou::runInjection(float speed)
+{
+    ik[0]->setSpeed(mspeed[0]);
+    if(timer.read() >= 1){
+        *encoder[0] = 0;
+        timer.reset();
+    }else{
+        mspeed[0] = 0;
+    }
+    if(*button[0] <= 0){
+        mspeed[0] = 0;
+        return;
+    }
+    if(*encoder[0] < 360){
+        mspeed[0] = speed;
+    }else if(*encoder[0] >= 360){
+        timer.start();
+        mspeed[0] = 0;
+    }
+}
+
+void SEKIkikou::runLoad(float speed)
+{
+    ik[2]->setSpeed(mspeed[2]);
+    if(*button[3] <= 0){
+        mspeed[2] = 0;
+        return;   
+    }else if(*button[3] >= 1){
+        mspeed[2] = speed;
+    }else{
+        mspeed[2] = 0;   
+    }
+}
+
+void SEKIkikou::runLift(float speed)
+{
+    ik[1]->setSpeed(mspeed[1]);
+    if(*button[1] <= 0 && *button[2] <= 0){
+        mspeed[1] = 0;
+        return;   
+    }else if(*button[1] >= 1){
+        mspeed[1] = speed;
+    }else if(*button[2] >= 1){
+        mspeed[1] = -speed;
+    }else{
+        mspeed[1] = 0;   
+    }
+}
\ No newline at end of file