File content as of revision 1:35e874e10602:

#include "hayatoBoomerang.h"

boomerang::boomerang(Serial *serial_)
{
  speedEncoder = new InteruputIn(SPEED_ENCODER);
  armEncoder= new InteruputIn(ARM_ENCODER);

  armLimit = new InteruptIn(ARM_LIMIT);
  spiralLimit = new InteruptIn(SPIRAL_LIMIT);

  speedPID = new PID(SPEED_P,SPEED_I,SPEED_D,RATE);
  armPID = new PID(ARM_P,ARM_I,ARM_D,RATE);
  speedPID.setInputLimits(0.0,6000.0);
  speedPID.setOutputLimits(0,1.0);

  armPID.setInputLimits(0,90)
  speedPID.setOutputLimits(-1.0,1.0);

  speedPID.setBias(0);
  speedPID.setMode(AUTO);
  speedPID.setSetPoint(0);

  armPID.setBias(0);
  armPID.setSetPoint(0);
  armPID.setMode(AUTO);

  armMotor = new IkarashiMDC(&rscs,0,0,serial_);
  shootingMotor = new IkarashiMDC(&rscs,0,1,serial_);

  motorRPM = 0;

  armEncoder = new QEI(ARM_ENCODER_A,ARM_ENCODER_B,NC,720,X4_ENCODING);
  speedEncoder.rise(&shootingEncoderCount);
  speedEncoder.enable_irq();
  armLimit.rise(&endCalibration);
  armLimit.disable_irq();

}

void boomerang::shootingEncoderCount()
{
  motorRPM = (1.0/rpmCalc.read())*60;
  rpmCalc.reset();
  rpmCalc.start();
}

void boomerang::setTargetMotorSpeed(const int& targetRPM)
{
  speedPID.setSetPoint(targetRPM);
}

void boomerang::setTargetArmAngle(const int& targetArmAngle)
{
    armPID.setSetPoint(targetArmAngle);
}

void booomerang::update()
{
  armMotor.setSpeed(armPID.getRealOutput());
  shootingMotor.setSpeed(speedPID.getRealOutput());
}

void booomerang::fire()
{
  beltMotor.setSpeed(0.4);
  beltTime.attach(beltStop,0.5);
  spiral.reload();

}

void boomerang::beltStop()
{
  beltMotor.setSpeed(0);
}

int boomerang::calibrateArm()
{
  if(armLimit == true)
    return 1;

  armLimit.enable_irq();
  armMotor.setSpeed(0.2);
  return 0;
}

void boomerang::endCalibration()
{
  armEncoder.reset()
  armLimit.disable_irq();
  armPID.setSetPoint(10);
}