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

Spiral.h@20:d052a0679309, 2017-11-06 (annotated)

Committer:
WAT34
Date:
Mon Nov 06 18:54:45 2017 +0900
Revision:
20:d052a0679309
Parent:
18:4b629221c215 
belt pided

Who changed what in which revision?

UserRevisionLine numberNew contents of line
WAT34 3:01947ec86f09 1 #ifndef SPIRAL_H
WAT34 3:01947ec86f09 2 #define SPIRAL_H
WAT34 3:01947ec86f09 3
WAT34 3:01947ec86f09 4 #include "mbed.h"
WAT34 3:01947ec86f09 5 #include "ikarashiMDC.h"
WAT34 20:d052a0679309 6 #include "PID.h"
WAT34 20:d052a0679309 7 #include "QEI.h"
WAT34 3:01947ec86f09 8
WAT34 3:01947ec86f09 9 class Spiral
WAT34 3:01947ec86f09 10 {
WAT34 3:01947ec86f09 11 public:
WAT34 17:311aed3cad15 12 Spiral(ikarashiMDC *spiralMotor_);
WAT34 3:01947ec86f09 13 int rotate();
WAT34 17:311aed3cad15 14 bool firing;
WAT34 20:d052a0679309 15 double beltSpeed,spiralSpeed;
WAT34 17:311aed3cad15 16 InterruptIn *spiralLimit;
WAT34 20:d052a0679309 17 void update();
WAT34 20:d052a0679309 18 QEI *beltEncoder;
WAT34 20:d052a0679309 19
WAT34 17:311aed3cad15 20
WAT34 3:01947ec86f09 21
WAT34 3:01947ec86f09 22 private:
WAT34 3:01947ec86f09 23 ikarashiMDC *spiralMotor;
WAT34 3:01947ec86f09 24 bool rotating;
WAT34 6:0bee4b2bb400 25 void stopRotation();
WAT34 18:4b629221c215 26 void beltStart();
WAT34 20:d052a0679309 27 double beltPos;
WAT34 17:311aed3cad15 28 Timeout beltTime;
WAT34 20:d052a0679309 29 PID *beltPID;
WAT34 20:d052a0679309 30
WAT34 3:01947ec86f09 31 };
WAT34 3:01947ec86f09 32
WAT34 3:01947ec86f09 33 #endif /* end of include guard: SPIRAL_H */