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ese519
Dependencies: MRF24J40 mbed-rtos mbed
Actuator.cpp@0:ef293aec3a85, 2015-03-21 (annotated)
- Committer:
- Jing_Qiu
- Date:
- Sat Mar 21 02:52:43 2015 +0000
- Revision:
- 0:ef293aec3a85
ese519
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Jing_Qiu | 0:ef293aec3a85 | 1 | #include "Actuator.h" |
Jing_Qiu | 0:ef293aec3a85 | 2 | |
Jing_Qiu | 0:ef293aec3a85 | 3 | |
Jing_Qiu | 0:ef293aec3a85 | 4 | Actuator::Actuator(int m_, int index_, PwmOut motor_, Timeout to_):m(m_),index(index_), motor(motor_), to(to_){} |
Jing_Qiu | 0:ef293aec3a85 | 5 | Actuator::~Actuator(){} |
Jing_Qiu | 0:ef293aec3a85 | 6 | int Actuator::getM(){ |
Jing_Qiu | 0:ef293aec3a85 | 7 | return m; |
Jing_Qiu | 0:ef293aec3a85 | 8 | } |
Jing_Qiu | 0:ef293aec3a85 | 9 | |
Jing_Qiu | 0:ef293aec3a85 | 10 | int Actuator::getIndex(){ |
Jing_Qiu | 0:ef293aec3a85 | 11 | return index; |
Jing_Qiu | 0:ef293aec3a85 | 12 | } |
Jing_Qiu | 0:ef293aec3a85 | 13 | |
Jing_Qiu | 0:ef293aec3a85 | 14 | PwmOut Actuator::getMotor() |
Jing_Qiu | 0:ef293aec3a85 | 15 | { |
Jing_Qiu | 0:ef293aec3a85 | 16 | return motor; |
Jing_Qiu | 0:ef293aec3a85 | 17 | } |
Jing_Qiu | 0:ef293aec3a85 | 18 | |
Jing_Qiu | 0:ef293aec3a85 | 19 | Timeout Actuator::getTo() |
Jing_Qiu | 0:ef293aec3a85 | 20 | { |
Jing_Qiu | 0:ef293aec3a85 | 21 | return to; |
Jing_Qiu | 0:ef293aec3a85 | 22 | } |
Jing_Qiu | 0:ef293aec3a85 | 23 | |
Jing_Qiu | 0:ef293aec3a85 | 24 | void Actuator::setM(int m_) |
Jing_Qiu | 0:ef293aec3a85 | 25 | { |
Jing_Qiu | 0:ef293aec3a85 | 26 | m = m_; |
Jing_Qiu | 0:ef293aec3a85 | 27 | |
Jing_Qiu | 0:ef293aec3a85 | 28 | } |
Jing_Qiu | 0:ef293aec3a85 | 29 | void Actuator::setIndex(int idx) |
Jing_Qiu | 0:ef293aec3a85 | 30 | { |
Jing_Qiu | 0:ef293aec3a85 | 31 | index = idx; |
Jing_Qiu | 0:ef293aec3a85 | 32 | } |
Jing_Qiu | 0:ef293aec3a85 | 33 | |
Jing_Qiu | 0:ef293aec3a85 | 34 | void Actuator::setMotor(double pw) |
Jing_Qiu | 0:ef293aec3a85 | 35 | { |
Jing_Qiu | 0:ef293aec3a85 | 36 | motor = pw; |
Jing_Qiu | 0:ef293aec3a85 | 37 | } |
Jing_Qiu | 0:ef293aec3a85 | 38 | |
Jing_Qiu | 0:ef293aec3a85 | 39 | void Actuator::shot() |
Jing_Qiu | 0:ef293aec3a85 | 40 | { |
Jing_Qiu | 0:ef293aec3a85 | 41 | setM(0); |
Jing_Qiu | 0:ef293aec3a85 | 42 | setMotor(0); |
Jing_Qiu | 0:ef293aec3a85 | 43 | } |
Jing_Qiu | 0:ef293aec3a85 | 44 | |
Jing_Qiu | 0:ef293aec3a85 | 45 | //void Actuator::updateMotor() |
Jing_Qiu | 0:ef293aec3a85 | 46 | //{ |
Jing_Qiu | 0:ef293aec3a85 | 47 | // if(getM()) getTo().attach(this,&Actuator::shot,0.2); |
Jing_Qiu | 0:ef293aec3a85 | 48 | // } |
Jing_Qiu | 0:ef293aec3a85 | 49 |