Diff: gakugaku.cpp

Revision:

19:31784928ec2d

Child:

20:d052a0679309

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/gakugaku.cpp	Sun Nov 05 09:35:20 2017 +0900
@@ -0,0 +1,47 @@
+#include "gakugaku.h"
+
+
+gakugaku::gakugaku(Serial* serial_)
+{
+  rscs = new DigitalOut(NC);
+  swingMotor = new ikarashiMDC(rscs,0,2,SM,serial_);
+  angleMotor = new ikarashiMDC(rscs,0,3,SM,serial_);
+  deploy = new DigitalOut(PC_0);
+
+  angleMotor->setSpeed(0);
+  swingMotor->setSpeed(0);
+
+  anglingSpeed = 0;
+  swinging = false;
+  deploy->write(false);
+
+}
+
+void gakugaku::update()
+{
+  if (swinging) {
+      swingMotor->setSpeed(0.5);
+  } else {
+      swingMotor->setSpeed(0);
+  }
+  angleMotor->setSpeed(anglingSpeed);
+}
+
+void gakugaku::setAnglingSpeed(const double& anglingSpeed_)
+{
+  anglingSpeed=anglingSpeed_;
+}
+
+void gakugaku::toggleSwing()
+{
+  swinging = !swinging;
+}
+void gakugaku::Deploy()
+{
+  deploy->write(true);
+  timer.attach(callback(this,&gakugaku::deployStop),2);
+}
+void gakugaku::deployStop()
+{
+  deploy->write(false);
+}