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:
- 2017-11-17
- Revision:
- 22:d7c3bd1ce8f8
- Parent:
- 18:4b629221c215
- Child:
- 23:ba636c80ed1b
File content as of revision 22:d7c3bd1ce8f8:
#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=-.5; spiralMotor->setSpeed(-.5); rotating = true; firing = true; return false; } void Spiral::stopRotation() { if (!rotating)return; spiralSpeed=0; spiralMotor->setSpeed(0); rotating = false; beltTime.attach(callback(this,&Spiral::beltStart),0.1); } void Spiral::beltStart() { beltSpeed=-1; beltTime.attach(callback(this,&Spiral::beltStop),0.1); } void Spiral::beltStop(){ beltSpeed=0; firing = false; }