Romain Ame / Mbed 2 deprecated Stressed

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Dependencies:   RoboClaw mbed

Fork of Robot2016_2-0 by ARES

ControlleurPince/ControlleurPince.cpp@58:02dc8328975a, 2016-05-04 (annotated)

Committer:
Jagang
Date:
Wed May 04 19:55:03 2016 +0000
Revision:
58:02dc8328975a
Child:
71:5590dbe8393a
Adding ControlleurPince

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Jagang 58:02dc8328975a 1
Jagang 58:02dc8328975a 2 #include "defines.h"
Jagang 58:02dc8328975a 3 #include "ControlleurPince.h"
Jagang 58:02dc8328975a 4
Jagang 58:02dc8328975a 5 ControlleurPince::ControlleurPince(Stepper &p_RMot, Stepper &p_ZMot, Stepper &p_LMot, DigitalIn &p_EnR, DigitalIn &p_EnZ, DigitalIn &p_EnL):
Jagang 58:02dc8328975a 6 RMot(p_RMot), ZMot(p_ZMot), LMot(p_LMot), EnR(p_EnR), EnZ(p_EnZ), EnL(p_EnL)
Jagang 58:02dc8328975a 7 {
Jagang 58:02dc8328975a 8 pos_r = 0;
Jagang 58:02dc8328975a 9 pos_z = 0;
Jagang 58:02dc8328975a 10 pos_l = 0;
Jagang 58:02dc8328975a 11 }
Jagang 58:02dc8328975a 12
Jagang 58:02dc8328975a 13
Jagang 58:02dc8328975a 14 void ControlleurPince::home(bool r, bool z, bool l)
Jagang 58:02dc8328975a 15 {
Jagang 58:02dc8328975a 16 if(r)
Jagang 58:02dc8328975a 17 {
Jagang 58:02dc8328975a 18 while(EnR==true) RMot.step(1, BAS, DELAY);
Jagang 58:02dc8328975a 19 pos_r = 0;
Jagang 58:02dc8328975a 20 }
Jagang 58:02dc8328975a 21 if(z)
Jagang 58:02dc8328975a 22 {
Jagang 58:02dc8328975a 23 while(EnZ==true) ZMot.step(1, BAS, DELAY);
Jagang 58:02dc8328975a 24 pos_z = 0;
Jagang 58:02dc8328975a 25 }
Jagang 58:02dc8328975a 26 if(l)
Jagang 58:02dc8328975a 27 {
Jagang 58:02dc8328975a 28 while(EnL==true) LMot.step(1, BAS, DELAY);
Jagang 58:02dc8328975a 29 pos_l = 0;
Jagang 58:02dc8328975a 30 }
Jagang 58:02dc8328975a 31 }
Jagang 58:02dc8328975a 32
Jagang 58:02dc8328975a 33 void ControlleurPince::setPos(float z, float delta, float center)
Jagang 58:02dc8328975a 34 {
Jagang 58:02dc8328975a 35 if(z > 0.f && z < 100.f)
Jagang 58:02dc8328975a 36 {
Jagang 58:02dc8328975a 37 logger.printf("Move by %f \n\r",z-pos_z);
Jagang 58:02dc8328975a 38 ZMot.mm(z-pos_z);
Jagang 58:02dc8328975a 39
Jagang 58:02dc8328975a 40 pos_z = z;
Jagang 58:02dc8328975a 41 }
Jagang 58:02dc8328975a 42 }