taiyou komazawa / johanshin_arm

2017_Bteam_gamma

johanshin_arm.cpp

Committer:
Komazawa_sun
Date:
2017-08-17
Revision:
0:43b500759963

File content as of revision 0:43b500759963:

#include "johanshin_arm.h"

JohanshinArm::JohanshinArm(int *arm1,int *arm2)
{
    Timeout second_phase;
    first_arm = arm1;
    second_arm = arm2;
}/*
JohanshinArm::JohanshinArm(int *arm1)
{
    //Timeout second_phase;
    first_arm = arm1;
    second_arm = NULL;
}*/

void JohanshinArm::second_phase_moving(){
    *second_arm = 1;
}

void JohanshinArm::move_arm(float moving_wait,bool mode)
{
    if(mode == true)
    {
        *first_arm = 1;
        second_phase.attach(this,&JohanshinArm::second_phase_moving,moving_wait);
    }
    else
    {
        second_phase.detach();
        *first_arm = 0;
        *second_arm = 0;   
    }
}