Spiral.cpp

00001 #include "Spiral.h"
00002 
00003 Spiral::Spiral(ikarashiMDC *spiralMotor_)
00004 {
00005   beltSpeed = 0;
00006   spiralSpeed = 0;
00007   spiralMotor = spiralMotor_;
00008   spiralLimit = new InterruptIn(PB_12);
00009   spiralLimit->mode(PullUp);
00010   spiralLimit->rise(this,&Spiral::stopRotation);
00011   rotating = false;
00012   firing = false;
00013   spiralLimit->enable_irq();
00014 }
00015 
00016 int Spiral::rotate()
00017 {
00018   if(rotating)
00019     return 1;
00020   spiralSpeed=-.5;
00021   spiralMotor->setSpeed(-.5);
00022   rotating = true;
00023   firing = true;
00024   return false;
00025 }
00026 
00027 void Spiral::stopRotation()
00028 {
00029   if (!rotating)return;
00030   spiralSpeed=0;
00031   spiralMotor->setSpeed(0);
00032   rotating = false;
00033   beltTime.attach(callback(this,&Spiral::beltStart),0.1);
00034 }
00035 
00036 void Spiral::beltStart()
00037 {
00038   beltSpeed=-1;
00039   beltTime.attach(callback(this,&Spiral::beltStop),0.1);
00040 }
00041 void Spiral::beltStop(){
00042   beltSpeed=0;
00043   firing = false;
00044 }