taiyou komazawa
/
johanshin_arm
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Diff: johanshin_arm.cpp
- Revision:
- 0:43b500759963
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/johanshin_arm.cpp Thu Aug 17 04:48:57 2017 +0000
@@ -0,0 +1,33 @@
+#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;
+ }
+}
\ No newline at end of file