NagaokaRoboticsClub_mbedTeam
2017ロボコンはやとブーメランプログラム
Dependencies: PID QEI ikarashiMDC recieveController omni
Spiral.cpp@12:9d21189a8eb0, 2017-09-13 (annotated)
- Committer:
- WAT34
- Date:
- Wed Sep 13 22:58:42 2017 +0700
- Revision:
- 12:9d21189a8eb0
- Parent:
- 6:0bee4b2bb400
- Child:
- 13:d01356a29b93
pinconfig fixed
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| WAT34 | 3:01947ec86f09 | 1 | #include "Spiral.h" |
| WAT34 | 3:01947ec86f09 | 2 | |
| WAT34 | 3:01947ec86f09 | 3 | Spiral::Spiral(ikarashiMDC* spiralMotor_) |
| WAT34 | 3:01947ec86f09 | 4 | { |
| WAT34 | 3:01947ec86f09 | 5 | spiralMotor = spiralMotor_; |
| WAT34 | 6:0bee4b2bb400 | 6 | spiralMotor->braking = false; |
| WAT34 | 12:9d21189a8eb0 | 7 | spiralLimit = new InterruptIn(PB_12); |
| WAT34 | 6:0bee4b2bb400 | 8 | spiralLimit->mode(PullUp); |
| WAT34 | 6:0bee4b2bb400 | 9 | spiralLimit->fall(this,&Spiral::stopRotation); |
| WAT34 | 3:01947ec86f09 | 10 | rotating = false; |
| WAT34 | 3:01947ec86f09 | 11 | } |
| WAT34 | 3:01947ec86f09 | 12 | |
| WAT34 | 3:01947ec86f09 | 13 | int Spiral::rotate() |
| WAT34 | 3:01947ec86f09 | 14 | { |
| WAT34 | 3:01947ec86f09 | 15 | if(rotating) |
| WAT34 | 3:01947ec86f09 | 16 | return 1; |
| WAT34 | 3:01947ec86f09 | 17 | spiralMotor->setSpeed(0.4); |
| WAT34 | 3:01947ec86f09 | 18 | rotating = true; |
| WAT34 | 6:0bee4b2bb400 | 19 | if(spiralLimit->read() == false) |
| WAT34 | 6:0bee4b2bb400 | 20 | { |
| WAT34 | 6:0bee4b2bb400 | 21 | } |
| WAT34 | 3:01947ec86f09 | 22 | return false; |
| WAT34 | 3:01947ec86f09 | 23 | } |
| WAT34 | 3:01947ec86f09 | 24 | |
| WAT34 | 3:01947ec86f09 | 25 | void Spiral::stopRotation() |
| WAT34 | 3:01947ec86f09 | 26 | { |
| WAT34 | 6:0bee4b2bb400 | 27 | spiralMotor->setSpeed(0); |
| WAT34 | 6:0bee4b2bb400 | 28 | rotating = false; |
| WAT34 | 3:01947ec86f09 | 29 | } |