2017ロボコンはやとブーメランプログラム
Dependencies: PID QEI ikarashiMDC recieveController omni
gakugaku.cpp@19:31784928ec2d, 2017-11-05 (annotated)
- Committer:
- WAT34
- Date:
- Sun Nov 05 09:35:20 2017 +0900
- Revision:
- 19:31784928ec2d
- Child:
- 20:d052a0679309
gakugaku added
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
WAT34 | 19:31784928ec2d | 1 | #include "gakugaku.h" |
WAT34 | 19:31784928ec2d | 2 | |
WAT34 | 19:31784928ec2d | 3 | |
WAT34 | 19:31784928ec2d | 4 | gakugaku::gakugaku(Serial* serial_) |
WAT34 | 19:31784928ec2d | 5 | { |
WAT34 | 19:31784928ec2d | 6 | rscs = new DigitalOut(NC); |
WAT34 | 19:31784928ec2d | 7 | swingMotor = new ikarashiMDC(rscs,0,2,SM,serial_); |
WAT34 | 19:31784928ec2d | 8 | angleMotor = new ikarashiMDC(rscs,0,3,SM,serial_); |
WAT34 | 19:31784928ec2d | 9 | deploy = new DigitalOut(PC_0); |
WAT34 | 19:31784928ec2d | 10 | |
WAT34 | 19:31784928ec2d | 11 | angleMotor->setSpeed(0); |
WAT34 | 19:31784928ec2d | 12 | swingMotor->setSpeed(0); |
WAT34 | 19:31784928ec2d | 13 | |
WAT34 | 19:31784928ec2d | 14 | anglingSpeed = 0; |
WAT34 | 19:31784928ec2d | 15 | swinging = false; |
WAT34 | 19:31784928ec2d | 16 | deploy->write(false); |
WAT34 | 19:31784928ec2d | 17 | |
WAT34 | 19:31784928ec2d | 18 | } |
WAT34 | 19:31784928ec2d | 19 | |
WAT34 | 19:31784928ec2d | 20 | void gakugaku::update() |
WAT34 | 19:31784928ec2d | 21 | { |
WAT34 | 19:31784928ec2d | 22 | if (swinging) { |
WAT34 | 19:31784928ec2d | 23 | swingMotor->setSpeed(0.5); |
WAT34 | 19:31784928ec2d | 24 | } else { |
WAT34 | 19:31784928ec2d | 25 | swingMotor->setSpeed(0); |
WAT34 | 19:31784928ec2d | 26 | } |
WAT34 | 19:31784928ec2d | 27 | angleMotor->setSpeed(anglingSpeed); |
WAT34 | 19:31784928ec2d | 28 | } |
WAT34 | 19:31784928ec2d | 29 | |
WAT34 | 19:31784928ec2d | 30 | void gakugaku::setAnglingSpeed(const double& anglingSpeed_) |
WAT34 | 19:31784928ec2d | 31 | { |
WAT34 | 19:31784928ec2d | 32 | anglingSpeed=anglingSpeed_; |
WAT34 | 19:31784928ec2d | 33 | } |
WAT34 | 19:31784928ec2d | 34 | |
WAT34 | 19:31784928ec2d | 35 | void gakugaku::toggleSwing() |
WAT34 | 19:31784928ec2d | 36 | { |
WAT34 | 19:31784928ec2d | 37 | swinging = !swinging; |
WAT34 | 19:31784928ec2d | 38 | } |
WAT34 | 19:31784928ec2d | 39 | void gakugaku::Deploy() |
WAT34 | 19:31784928ec2d | 40 | { |
WAT34 | 19:31784928ec2d | 41 | deploy->write(true); |
WAT34 | 19:31784928ec2d | 42 | timer.attach(callback(this,&gakugaku::deployStop),2); |
WAT34 | 19:31784928ec2d | 43 | } |
WAT34 | 19:31784928ec2d | 44 | void gakugaku::deployStop() |
WAT34 | 19:31784928ec2d | 45 | { |
WAT34 | 19:31784928ec2d | 46 | deploy->write(false); |
WAT34 | 19:31784928ec2d | 47 | } |