SEKIkikou.h

00001 
00002 #ifndef SEKIKIKOU
00003 
00004 #define SEKIKIKOU
00005 
00006 #include "mbed.h"
00007 #include "ikarashiMDC.h"
00008 
00009 /*サンプルコード
00010 
00011 
00012 #include "mbed.h"
00013 #include "SEKIkikou.h"
00014 
00015 Serial serial(PC_10, PC_11, 115200);
00016 
00017 ikarashiMDC motor[] = {
00018     ikarashiMDC(0,0,SM,&serial),
00019     ikarashiMDC(0,1,SM,&serial),
00020     ikarashiMDC(0,2,SM,&serial),
00021 };
00022 
00023 int main(){
00024     uint8_t b[4];
00025     int env[3];
00026     SEKIkikou seki(&motor[0], &motor[1], &motor[2], &b[0], &b[1], &b[2], &b[3], &env[0], &env[1], &env[2]);
00027     
00028     for(int i=0; i<4; i++){
00029         b[i] = 0;
00030         if(i < 3) env[i] = 0;   
00031     }
00032     
00033     while(1){
00034         seki.runLift(0.1);   
00035     }
00036 }
00037 
00038 */
00039 
00040 class SEKIkikou
00041 {
00042 public:
00043 
00044     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);
00045     
00046     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);
00047     
00048     void runAll(float speedI, float speedLoad, float speedLift, int angle);
00049     
00050     void runInjection(float speed);
00051     
00052     void runLoad(float speed);
00053     
00054     void runLift(float speed, int angle);
00055     
00056     void stopAll();
00057 
00058 private:
00059     Timer timer;
00060     uint8_t *button[4];
00061     int *encoder[3];
00062     int encoderAngle[3];
00063     int liftFlag;
00064     int envBuff;
00065     int buff[2];
00066     float mspeed[3];
00067     bool injecterFlag;
00068     ikarashiMDC *ik[3];
00069 };
00070 
00071 #endif