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Dependencies: Farbsensor IRSensorLib PID_Control Servo mbed PixyLib
liftAnsteuerung.cpp@8:077d0bb213a2, 2017-05-18 (annotated)
- Committer:
- ZHAW_Prometheus
- Date:
- Thu May 18 09:12:46 2017 +0000
- Revision:
- 8:077d0bb213a2
- Parent:
- 7:5949f408b6da
- Child:
- 12:472b26872a42
Version 18.05.2017 11:12
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| ZHAW_Prometheus | 1:5c44e2462a8b | 1 | #include "mbed.h" |
| ZHAW_Prometheus | 1:5c44e2462a8b | 2 | #include "cstdlib" |
| ZHAW_Prometheus | 1:5c44e2462a8b | 3 | #include "liftAnsteuerung.h" |
| ZHAW_Prometheus | 1:5c44e2462a8b | 4 | |
| ZHAW_Prometheus | 1:5c44e2462a8b | 5 | |
| ZHAW_Prometheus | 7:5949f408b6da | 6 | LiftAnsteuerung::LiftAnsteuerung(int interval, int ruecklauf, Servo* servoLift) |
| ZHAW_Prometheus | 1:5c44e2462a8b | 7 | { |
| ZHAW_Prometheus | 7:5949f408b6da | 8 | init(interval, ruecklauf, servoLift); |
| ZHAW_Prometheus | 1:5c44e2462a8b | 9 | } |
| ZHAW_Prometheus | 1:5c44e2462a8b | 10 | |
| ZHAW_Prometheus | 1:5c44e2462a8b | 11 | |
| ZHAW_Prometheus | 1:5c44e2462a8b | 12 | LiftAnsteuerung::LiftAnsteuerung() {} |
| ZHAW_Prometheus | 1:5c44e2462a8b | 13 | |
| ZHAW_Prometheus | 1:5c44e2462a8b | 14 | |
| ZHAW_Prometheus | 1:5c44e2462a8b | 15 | LiftAnsteuerung::~LiftAnsteuerung() {} |
| ZHAW_Prometheus | 1:5c44e2462a8b | 16 | |
| ZHAW_Prometheus | 1:5c44e2462a8b | 17 | |
| ZHAW_Prometheus | 2:dea0bab5e45c | 18 | void LiftAnsteuerung::init(int interval, int ruecklauf, Servo* servoLift) |
| ZHAW_Prometheus | 1:5c44e2462a8b | 19 | { |
| ZHAW_Prometheus | 7:5949f408b6da | 20 | zeitinterval = interval; |
| ZHAW_Prometheus | 2:dea0bab5e45c | 21 | ruecklaufzeit = ruecklauf; |
| ZHAW_Prometheus | 1:5c44e2462a8b | 22 | this->servoLift = servoLift; |
| ZHAW_Prometheus | 7:5949f408b6da | 23 | M1 = interval; |
| ZHAW_Prometheus | 2:dea0bab5e45c | 24 | M2 = ruecklauf; |
| ZHAW_Prometheus | 1:5c44e2462a8b | 25 | } |
| ZHAW_Prometheus | 2:dea0bab5e45c | 26 | void LiftAnsteuerung::steuerung(){ |
| ZHAW_Prometheus | 1:5c44e2462a8b | 27 | |
| ZHAW_Prometheus | 8:077d0bb213a2 | 28 | if (pc) { |
| ZHAW_Prometheus | 7:5949f408b6da | 29 | pc->printf("M1: %d, M2: %d\n\r", M1, M2); |
| ZHAW_Prometheus | 8:077d0bb213a2 | 30 | } |
| ZHAW_Prometheus | 7:5949f408b6da | 31 | if (M1>0) { |
| ZHAW_Prometheus | 7:5949f408b6da | 32 | servoLift->write(1.2f); |
| ZHAW_Prometheus | 7:5949f408b6da | 33 | M1--; |
| ZHAW_Prometheus | 7:5949f408b6da | 34 | } else if (M2>0) { |
| ZHAW_Prometheus | 7:5949f408b6da | 35 | |
| ZHAW_Prometheus | 2:dea0bab5e45c | 36 | servoLift->write(0.1f); |
| ZHAW_Prometheus | 2:dea0bab5e45c | 37 | M2--; |
| ZHAW_Prometheus | 2:dea0bab5e45c | 38 | } else { |
| ZHAW_Prometheus | 7:5949f408b6da | 39 | M1 = zeitinterval; |
| ZHAW_Prometheus | 7:5949f408b6da | 40 | M2 = ruecklaufzeit; |
| ZHAW_Prometheus | 7:5949f408b6da | 41 | } |
| ZHAW_Prometheus | 7:5949f408b6da | 42 | //pc->printf("M1: %d, M2: %d\n\r", M1, M2); |
| ZHAW_Prometheus | 1:5c44e2462a8b | 43 | |
| ZHAW_Prometheus | 1:5c44e2462a8b | 44 | } |
| ZHAW_Prometheus | 1:5c44e2462a8b | 45 | void LiftAnsteuerung::setSerialOutput(Serial *pc) |
| ZHAW_Prometheus | 1:5c44e2462a8b | 46 | { |
| ZHAW_Prometheus | 1:5c44e2462a8b | 47 | this->pc = pc; |
| ZHAW_Prometheus | 1:5c44e2462a8b | 48 | } |
| ZHAW_Prometheus | 1:5c44e2462a8b | 49 | |
| ZHAW_Prometheus | 1:5c44e2462a8b | 50 | |
| ZHAW_Prometheus | 1:5c44e2462a8b | 51 |