taiyou komazawa / Mbed 2 deprecated 2017_Bteam_alpha_master

2017 hongo b team

Dependencies:   Alpha_Movements BoolProcess DataCaller mbed

ArrowShooter.cpp@0:7318c0dde997, 2017-09-08 (annotated)

Committer:
Komazawa_sun
Date:
Fri Sep 08 03:58:36 2017 +0000
Revision:
0:7318c0dde997
????

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Komazawa_sun 0:7318c0dde997 1 #include "ArrowShooter.h"
Komazawa_sun 0:7318c0dde997 2
Komazawa_sun 0:7318c0dde997 3 ArrowShooter::ArrowShooter(I2C *_master, double _strt_inval)
Komazawa_sun 0:7318c0dde997 4 : to_slave(alpha_a::sht_pwr, alpha_a::unsig, alpha_a::s2_addr, _master),
Komazawa_sun 0:7318c0dde997 5 _MD(&i2c_md),
Komazawa_sun 0:7318c0dde997 6 motor(_MD, _strt_inval)
Komazawa_sun 0:7318c0dde997 7 {
Komazawa_sun 0:7318c0dde997 8 time.reset();
Komazawa_sun 0:7318c0dde997 9 time.start();
Komazawa_sun 0:7318c0dde997 10 }
Komazawa_sun 0:7318c0dde997 11
Komazawa_sun 0:7318c0dde997 12 double ArrowShooter::fire()
Komazawa_sun 0:7318c0dde997 13 {
Komazawa_sun 0:7318c0dde997 14
Komazawa_sun 0:7318c0dde997 15 if(2.5 > time.read())
Komazawa_sun 0:7318c0dde997 16 {
Komazawa_sun 0:7318c0dde997 17 //printf("ypaaa!!");
Komazawa_sun 0:7318c0dde997 18 set_pwm(1.0);
Komazawa_sun 0:7318c0dde997 19 }
Komazawa_sun 0:7318c0dde997 20 else if(3.8 > time.read())
Komazawa_sun 0:7318c0dde997 21 {
Komazawa_sun 0:7318c0dde997 22 set_pwm(0.0);
Komazawa_sun 0:7318c0dde997 23 }
Komazawa_sun 0:7318c0dde997 24 else
Komazawa_sun 0:7318c0dde997 25 {
Komazawa_sun 0:7318c0dde997 26 time.reset();
Komazawa_sun 0:7318c0dde997 27 }
Komazawa_sun 0:7318c0dde997 28
Komazawa_sun 0:7318c0dde997 29
Komazawa_sun 0:7318c0dde997 30 printf("%d\r\n",i2c_md.get_output());
Komazawa_sun 0:7318c0dde997 31
Komazawa_sun 0:7318c0dde997 32 return time.read();
Komazawa_sun 0:7318c0dde997 33
Komazawa_sun 0:7318c0dde997 34 }
Komazawa_sun 0:7318c0dde997 35
Komazawa_sun 0:7318c0dde997 36 void ArrowShooter::set_pwm(double pwm, double inval)
Komazawa_sun 0:7318c0dde997 37 {
Komazawa_sun 0:7318c0dde997 38 motor.reform_inval(inval);
Komazawa_sun 0:7318c0dde997 39 motor.drive(pwm);
Komazawa_sun 0:7318c0dde997 40 to_slave.write((uint8_t)i2c_md.get_output());
Komazawa_sun 0:7318c0dde997 41 }