Diff: hayatoBoomerang.h

Revision:

17:311aed3cad15

Parent:

12:9d21189a8eb0

Child:

18:4b629221c215

--- a/hayatoBoomerang.h	Fri Oct 06 21:59:16 2017 +0900
+++ b/hayatoBoomerang.h	Sun Oct 15 13:42:12 2017 +0900
@@ -18,7 +18,7 @@
 class boomerang
 {
 public:
-  boomerang(Serial *serail_); // Create boomerang instance
+  boomerang(Serial *serail_,Serial *serial2_); // Create boomerang instance
   bool fire(); // Fire boomerang
   void setTargetMotorSpeed(const int& targetRPM);
   void setTargetArmAngle(const int& targetArmAngle); // 0 to 90
@@ -32,18 +32,15 @@
 private:
   QEI *armEncoder;
   ikarashiMDC* armMotor,*shootingMotor,*beltMotor,*spiralMotor;
-  ikarashiMDC *omniMotor[5];
+  ikarashiMDC *omniMotor[4];
   InterruptIn *speedEncoder;
   InterruptIn* armLimit;
   DigitalOut *rscs;
   PID *speedPID,*armPID;
   Timer rpmCalc;
-  Timeout beltTime;
   Spiral* spiral;
   Omni *omni;
-  void endCalibration();
-  void beltStop();
-  bool firing;
+  Serial *spiralSerial;
 
   void shootingEncoderCount();