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:
- 2017-09-13
- Revision:
- 12:9d21189a8eb0
- Parent:
- 6:0bee4b2bb400
- Child:
- 13:d01356a29b93
File content as of revision 12:9d21189a8eb0:
#include "Spiral.h" Spiral::Spiral(ikarashiMDC* spiralMotor_) { spiralMotor = spiralMotor_; spiralMotor->braking = false; spiralLimit = new InterruptIn(PB_12); spiralLimit->mode(PullUp); spiralLimit->fall(this,&Spiral::stopRotation); rotating = false; } int Spiral::rotate() { if(rotating) return 1; spiralMotor->setSpeed(0.4); rotating = true; if(spiralLimit->read() == false) { } return false; } void Spiral::stopRotation() { spiralMotor->setSpeed(0); rotating = false; }