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@8:c47cf4e0230c, 2017-09-07 (annotated)
- Committer:
- eil4nyqn
- Date:
- Thu Sep 07 00:05:25 2017 +0000
- Revision:
- 8:c47cf4e0230c
- Parent:
- 6:0bee4b2bb400
- Child:
- 14:5cc44bec9cfc
changed pins connection and fixed anything bug
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_; |
eil4nyqn | 8:c47cf4e0230c | 6 | spiralMotor->braking = true; |
eil4nyqn | 8:c47cf4e0230c | 7 | spiralLimit = new InterruptIn(PB_12); |
WAT34 | 6:0bee4b2bb400 | 8 | spiralLimit->mode(PullUp); |
eil4nyqn | 8:c47cf4e0230c | 9 | spiralLimit->rise(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 | } |