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

hayatoBoomerang.h@1:35e874e10602, 2017-08-24 (annotated)

Committer:
WAT34
Date:
Thu Aug 24 18:16:59 2017 +0900
Revision:
1:35e874e10602
Child:
2:aca690545ec9
initial commit

Who changed what in which revision?

UserRevisionLine numberNew contents of line
WAT34 1:35e874e10602 1 #ifndef HAYATOBOOMERANG_H
WAT34 1:35e874e10602 2 #define HAYATOBOOMERANG_H
WAT34 1:35e874e10602 3
WAT34 1:35e874e10602 4 #include "mbed.h"
WAT34 1:35e874e10602 5 #include "ikarashiMDC.h"
WAT34 1:35e874e10602 6 #include "PID.h"
WAT34 1:35e874e10602 7 #include "QEI.h"
WAT34 1:35e874e10602 8
WAT34 1:35e874e10602 9 class boomerang
WAT34 1:35e874e10602 10 {
WAT34 1:35e874e10602 11 public:
WAT34 1:35e874e10602 12 boomerang(Serial *serail_); // Create boomerang instance
WAT34 1:35e874e10602 13 bool fire(); // Fire boomerang
WAT34 1:35e874e10602 14 void setTargetMotorSpeed(const int& targetRPM);
WAT34 1:35e874e10602 15 void setTargetArmAngle(const int& targetArmAngle); // 0 to 90
WAT34 1:35e874e10602 16 int calibrateArm();
WAT34 1:35e874e10602 17 double motorRPM;
WAT34 1:35e874e10602 18 double armAngle;
WAT34 1:35e874e10602 19 private:
WAT34 1:35e874e10602 20 InterruptIn speedEncoder;
WAT34 1:35e874e10602 21 QEI armEncoder;
WAT34 1:35e874e10602 22 InterruptIn armLimit,spiralLimit;
WAT34 1:35e874e10602 23 ikarashiMDC armMotor,shootingMotor,beltMotor,spiralMotor;
WAT34 1:35e874e10602 24 PID speedPID,armPID;
WAT34 1:35e874e10602 25 Timer rpmCalc;
WAT34 1:35e874e10602 26 Timeout beltTime;
WAT34 1:35e874e10602 27
WAT34 1:35e874e10602 28 };
WAT34 1:35e874e10602 29
WAT34 1:35e874e10602 30
WAT34 1:35e874e10602 31 #endif /* end of include guard: HAYATOBOOMERANG_H */