NagaokaRoboticsClub_mbedTeam / Mbed OS hayatoShooter

2017ロボコンはやとブーメランプログラム

Dependencies:   PID QEI ikarashiMDC recieveController omni

gakugaku.cpp@19:31784928ec2d, 2017-11-05 (annotated)

Committer:
WAT34
Date:
Sun Nov 05 09:35:20 2017 +0900
Revision:
19:31784928ec2d
Child:
20:d052a0679309
gakugaku added

Who changed what in which revision?

UserRevisionLine numberNew contents of line
WAT34 19:31784928ec2d 1 #include "gakugaku.h"
WAT34 19:31784928ec2d 2
WAT34 19:31784928ec2d 3
WAT34 19:31784928ec2d 4 gakugaku::gakugaku(Serial* serial_)
WAT34 19:31784928ec2d 5 {
WAT34 19:31784928ec2d 6 rscs = new DigitalOut(NC);
WAT34 19:31784928ec2d 7 swingMotor = new ikarashiMDC(rscs,0,2,SM,serial_);
WAT34 19:31784928ec2d 8 angleMotor = new ikarashiMDC(rscs,0,3,SM,serial_);
WAT34 19:31784928ec2d 9 deploy = new DigitalOut(PC_0);
WAT34 19:31784928ec2d 10
WAT34 19:31784928ec2d 11 angleMotor->setSpeed(0);
WAT34 19:31784928ec2d 12 swingMotor->setSpeed(0);
WAT34 19:31784928ec2d 13
WAT34 19:31784928ec2d 14 anglingSpeed = 0;
WAT34 19:31784928ec2d 15 swinging = false;
WAT34 19:31784928ec2d 16 deploy->write(false);
WAT34 19:31784928ec2d 17
WAT34 19:31784928ec2d 18 }
WAT34 19:31784928ec2d 19
WAT34 19:31784928ec2d 20 void gakugaku::update()
WAT34 19:31784928ec2d 21 {
WAT34 19:31784928ec2d 22 if (swinging) {
WAT34 19:31784928ec2d 23 swingMotor->setSpeed(0.5);
WAT34 19:31784928ec2d 24 } else {
WAT34 19:31784928ec2d 25 swingMotor->setSpeed(0);
WAT34 19:31784928ec2d 26 }
WAT34 19:31784928ec2d 27 angleMotor->setSpeed(anglingSpeed);
WAT34 19:31784928ec2d 28 }
WAT34 19:31784928ec2d 29
WAT34 19:31784928ec2d 30 void gakugaku::setAnglingSpeed(const double& anglingSpeed_)
WAT34 19:31784928ec2d 31 {
WAT34 19:31784928ec2d 32 anglingSpeed=anglingSpeed_;
WAT34 19:31784928ec2d 33 }
WAT34 19:31784928ec2d 34
WAT34 19:31784928ec2d 35 void gakugaku::toggleSwing()
WAT34 19:31784928ec2d 36 {
WAT34 19:31784928ec2d 37 swinging = !swinging;
WAT34 19:31784928ec2d 38 }
WAT34 19:31784928ec2d 39 void gakugaku::Deploy()
WAT34 19:31784928ec2d 40 {
WAT34 19:31784928ec2d 41 deploy->write(true);
WAT34 19:31784928ec2d 42 timer.attach(callback(this,&gakugaku::deployStop),2);
WAT34 19:31784928ec2d 43 }
WAT34 19:31784928ec2d 44 void gakugaku::deployStop()
WAT34 19:31784928ec2d 45 {
WAT34 19:31784928ec2d 46 deploy->write(false);
WAT34 19:31784928ec2d 47 }