Diff: hayatoBoomerang.h

Revision:

2:aca690545ec9

Parent:

1:35e874e10602

Child:

4:c2b09fa31492

--- a/hayatoBoomerang.h	Thu Aug 24 18:16:59 2017 +0900
+++ b/hayatoBoomerang.h	Thu Aug 24 20:47:56 2017 +0900
@@ -5,6 +5,8 @@
 #include "ikarashiMDC.h"
 #include "PID.h"
 #include "QEI.h"
+#include "Spiral.h"
+#include "pinConfig.h"
 
 class boomerang
 {
@@ -14,16 +16,24 @@
   void setTargetMotorSpeed(const int& targetRPM);
   void setTargetArmAngle(const int& targetArmAngle); // 0 to 90
   int calibrateArm();
+  void update();
   double motorRPM;
   double armAngle;
 private:
-  InterruptIn speedEncoder;
-  QEI armEncoder;
-  InterruptIn armLimit,spiralLimit;
-  ikarashiMDC armMotor,shootingMotor,beltMotor,spiralMotor;
-  PID speedPID,armPID;
+  InterruptIn *speedEncoder;
+  QEI *armEncoder;
+  InterruptIn* armLimit;
+  ikarashiMDC* armMotor,*shootingMotor,*beltMotor,*spiralMotor;
+  DigitalOut *rscs;
+  PID *speedPID,*armPID;
   Timer rpmCalc;
   Timeout beltTime;
+  Spiral* spiral;
+  void endCalibration();
+  void beltStop();
+
+  void shootingEncoderCount();
+
 
 };