Diff: ArrowShooter.cpp

Revision:

0:7318c0dde997

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ArrowShooter.cpp	Fri Sep 08 03:58:36 2017 +0000
@@ -0,0 +1,41 @@
+#include "ArrowShooter.h"
+
+ArrowShooter::ArrowShooter(I2C *_master, double _strt_inval)
+:   to_slave(alpha_a::sht_pwr, alpha_a::unsig, alpha_a::s2_addr, _master),
+    _MD(&i2c_md),
+    motor(_MD, _strt_inval)
+{
+    time.reset();
+    time.start();
+}
+
+double ArrowShooter::fire()
+{
+    
+    if(2.5 > time.read())
+    {
+        //printf("ypaaa!!");
+        set_pwm(1.0);
+    }
+    else if(3.8 > time.read())
+    {
+        set_pwm(0.0);
+    }
+    else 
+    {
+        time.reset();
+    }        
+
+    
+    printf("%d\r\n",i2c_md.get_output());
+    
+    return time.read(); 
+       
+}
+
+void ArrowShooter::set_pwm(double pwm, double inval)
+{
+    motor.reform_inval(inval);
+    motor.drive(pwm);
+    to_slave.write((uint8_t)i2c_md.get_output());  
+}
\ No newline at end of file