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:
- 2017-11-13
- Revision:
- 21:aad4a4adc18c
- Parent:
- 18:4b629221c215
File content as of revision 21:aad4a4adc18c:
#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=1; spiralMotor->setSpeed(1); rotating = true; firing = true; return false; } void Spiral::stopRotation() { if (!rotating)return; spiralSpeed=0; spiralMotor->setSpeed(0); rotating = false; firing = false; } void Spiral::beltStart() { if(firing) return; beltSpeed=-1; beltTime.attach(callback(this,&Spiral::beltStop),0.1); firing = true; } void Spiral::beltStop() { beltSpeed=0; firing = false; rotate(); }