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:
- 2017-08-29
- Revision:
- 4:c2b09fa31492
- Parent:
- 2:aca690545ec9
- Child:
- 6:0bee4b2bb400
File content as of revision 4:c2b09fa31492:
#ifndef HAYATOBOOMERANG_H #define HAYATOBOOMERANG_H #include "mbed.h" #include "ikarashiMDC.h" #include "PID.h" #include "QEI.h" #include "Spiral.h" #include "pinConfig.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(); void update(); double motorRPM; double armAngle; bool calibrating; double beltSpeed; ikarashiMDC* armMotor,*shootingMotor,*beltMotor,*spiralMotor; private: InterruptIn *speedEncoder; QEI *armEncoder; InterruptIn* armLimit; DigitalOut *rscs; PID *speedPID,*armPID; Timer rpmCalc; Timeout beltTime; Spiral* spiral; void endCalibration(); void beltStop(); bool firing; void shootingEncoderCount(); }; #endif /* end of include guard: HAYATOBOOMERANG_H */