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

Spiral.cpp

Committer:
WAT34
Date:
2017-08-29
Revision:
4:c2b09fa31492
Parent:
3:01947ec86f09
Child:
6:0bee4b2bb400

File content as of revision 4:c2b09fa31492:

#include "Spiral.h"

Spiral::Spiral(ikarashiMDC* spiralMotor_)
{
  spiralMotor = spiralMotor_;
  spiralLimit = new InterruptIn(D15);
  spiralLimit->rise(this,&Spiral::stopRotation);
  spiralLimit->disable_irq();
  rotating = false;
}

int Spiral::rotate()
{
  if(rotating)
    return 1;
  spiralLimit->enable_irq();
  spiralMotor->setSpeed(0.4);
  rotating = true;
  return false;
}

void Spiral::stopRotation()
{
  spiralMotor->setSpeed(0);
  spiralLimit->disable_irq();
  rotating = false;
}