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.cpp
- Committer:
- WAT34
- Date:
- 2017-10-15
- Revision:
- 17:311aed3cad15
- Parent:
- 14:5cc44bec9cfc
- Child:
- 18:4b629221c215
File content as of revision 17:311aed3cad15:
#include "Spiral.h" Spiral::Spiral(ikarashiMDC *spiralMotor_) { beltSpeed = 0; spiralSpeed = 0; spiralMotor = spiralMotor_; spiralLimit = new InterruptIn(PB_12); spiralLimit->mode(PullUp); spiralLimit->rise(this,&Spiral::stopRotation); rotating = false; firing = false; spiralLimit->enable_irq(); } int Spiral::rotate() { if(rotating) return 1; spiralSpeed=0.4; spiralMotor->setSpeed(0.4); rotating = true; firing = true; return false; } void Spiral::stopRotation() { if (!rotating)return; spiralSpeed=0; spiralMotor->setSpeed(0); beltSpeed=-0.8; rotating = false; beltTime.attach(callback(this,&Spiral::beltStop),0.6); } void Spiral::beltStop(){ beltSpeed=0; firing = false; }