taiyou komazawa / johanshin_arm

2017_Bteam_gamma

johanshin_arm.cpp@0:43b500759963, 2017-08-17 (annotated)

Committer:
Komazawa_sun
Date:
Thu Aug 17 04:48:57 2017 +0000
Revision:
0:43b500759963
for_gamma_arms

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Komazawa_sun 0:43b500759963 1 #include "johanshin_arm.h"
Komazawa_sun 0:43b500759963 2
Komazawa_sun 0:43b500759963 3 JohanshinArm::JohanshinArm(int *arm1,int *arm2)
Komazawa_sun 0:43b500759963 4 {
Komazawa_sun 0:43b500759963 5 Timeout second_phase;
Komazawa_sun 0:43b500759963 6 first_arm = arm1;
Komazawa_sun 0:43b500759963 7 second_arm = arm2;
Komazawa_sun 0:43b500759963 8 }/*
Komazawa_sun 0:43b500759963 9 JohanshinArm::JohanshinArm(int *arm1)
Komazawa_sun 0:43b500759963 10 {
Komazawa_sun 0:43b500759963 11 //Timeout second_phase;
Komazawa_sun 0:43b500759963 12 first_arm = arm1;
Komazawa_sun 0:43b500759963 13 second_arm = NULL;
Komazawa_sun 0:43b500759963 14 }*/
Komazawa_sun 0:43b500759963 15
Komazawa_sun 0:43b500759963 16 void JohanshinArm::second_phase_moving(){
Komazawa_sun 0:43b500759963 17 *second_arm = 1;
Komazawa_sun 0:43b500759963 18 }
Komazawa_sun 0:43b500759963 19
Komazawa_sun 0:43b500759963 20 void JohanshinArm::move_arm(float moving_wait,bool mode)
Komazawa_sun 0:43b500759963 21 {
Komazawa_sun 0:43b500759963 22 if(mode == true)
Komazawa_sun 0:43b500759963 23 {
Komazawa_sun 0:43b500759963 24 *first_arm = 1;
Komazawa_sun 0:43b500759963 25 second_phase.attach(this,&JohanshinArm::second_phase_moving,moving_wait);
Komazawa_sun 0:43b500759963 26 }
Komazawa_sun 0:43b500759963 27 else
Komazawa_sun 0:43b500759963 28 {
Komazawa_sun 0:43b500759963 29 second_phase.detach();
Komazawa_sun 0:43b500759963 30 *first_arm = 0;
Komazawa_sun 0:43b500759963 31 *second_arm = 0;
Komazawa_sun 0:43b500759963 32 }
Komazawa_sun 0:43b500759963 33 }