Diff: hayatoBoomerang.h

Revision:

1:35e874e10602

Child:

2:aca690545ec9

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/hayatoBoomerang.h	Thu Aug 24 18:16:59 2017 +0900
@@ -0,0 +1,31 @@
+#ifndef HAYATOBOOMERANG_H
+#define HAYATOBOOMERANG_H
+
+#include "mbed.h"
+#include "ikarashiMDC.h"
+#include "PID.h"
+#include "QEI.h"
+
+class boomerang
+{
+public:
+  boomerang(Serial *serail_); // Create boomerang instance
+  bool fire(); // Fire boomerang
+  void setTargetMotorSpeed(const int& targetRPM);
+  void setTargetArmAngle(const int& targetArmAngle); // 0 to 90
+  int calibrateArm();
+  double motorRPM;
+  double armAngle;
+private:
+  InterruptIn speedEncoder;
+  QEI armEncoder;
+  InterruptIn armLimit,spiralLimit;
+  ikarashiMDC armMotor,shootingMotor,beltMotor,spiralMotor;
+  PID speedPID,armPID;
+  Timer rpmCalc;
+  Timeout beltTime;
+
+};
+
+
+#endif /* end of include guard: HAYATOBOOMERANG_H */