NagaokaRoboticsClub_mbedTeam / Mbed OS hayatoShooter

2017ロボコンはやとブーメランプログラム

Dependencies:   PID QEI ikarashiMDC recieveController omni

hayatoBoomerang.h

Committer:
WAT34
Date:
2017-08-24
Revision:
1:35e874e10602
Child:
2:aca690545ec9

File content as of revision 1:35e874e10602:

#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 */