Diff: global.cpp

Revision:

0:ae5d19a716e1

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/global.cpp	Wed Mar 05 05:17:45 2014 +0000
@@ -0,0 +1,114 @@
+/* global.cpp */
+
+#include "global.h"
+
+/**
+ * Classes
+ */
+PwmOut mortar_A(p21);   //aori
+PwmOut mortar_U(p22);   //UFO up down
+PwmOut mortar_M(p23);   //merry-go-round
+PwmOut mortar_S(p24);   //yosou
+
+DigitalOut UFO(p6);     //UFO  ON:close, OFF:open
+DigitalOut RISE1(p5);   //rise
+DigitalOut RISE2(p7);
+DigitalOut RISE3(p8);
+
+DigitalOut led1(LED1);
+DigitalOut led2(LED2);
+DigitalOut led3(LED3);
+DigitalOut led4(LED4);
+
+DigitalIn MS_A(p20);    //microswitch
+DigitalIn MS_U(p19);
+DigitalIn MS_M(p18);
+DigitalIn MS_S(p17);
+
+QEI hight(p29, p30, NC, 100);
+
+Serial pc(USBTX, USBRX);    //serialport
+
+/**
+ * Parameters
+ */
+double duty_A=0.13, dutyr_A=0.42, dutyu_U=0.30, dutyd_U=0.65, duty_M=0.30, dutyr_M=0.70, duty_S=0.40, dutyr_S=0.60;
+double speed[4] = {STOP, STOP, STOP, STOP};
+double wait_A=0.45, wait_U=0.2, wait_M=0.2, wait_S=0.15;
+
+bool STOP_STATUS=true;  //false:stop
+
+/**
+ * Functions
+ */
+void led_all(int s){
+    if ( s==ON ){
+        led1=led2=led3=led4=ON;
+    }
+    else if ( s==OFF ) {
+        led1=led2=led3=led4=OFF;
+    }
+}
+
+void setspeed( double t_speed, int x ) {
+    double step, waittime;
+    if(speed[x]<t_speed) {
+        while (speed[x]<t_speed) {
+            if(t_speed-speed[x]>0.05)   step = 0.05;
+            else                        step = 0.01;
+            speed[x]+=step;
+            switch(x) {
+                case _A_:
+                    waittime = wait_A;
+                    mortar_A = speed[x];
+                    break;
+                case _U_:
+                    waittime = wait_U;
+                    mortar_U = speed[x];
+                    break;
+                case _M_:
+                    waittime = wait_M;
+                    mortar_M = speed[x];
+                    break;
+                case _S_:
+                    waittime = wait_S;
+                    mortar_S = speed[x];
+                    break;
+            }
+            wait(waittime);
+        }
+    }
+    else {
+        while(speed[x]>t_speed) {
+            if(speed[x]-t_speed>0.05)   step = 0.05;
+            else                        step = 0.01;
+            speed[x]-=step;
+            switch(x) {
+                case _A_:
+                    waittime = wait_A;
+                    mortar_A = speed[x];
+                    break;
+                case _U_:
+                    waittime = wait_U;
+                    mortar_U = speed[x];
+                    break;
+                case _M_:
+                    waittime = wait_M;
+                    mortar_M = speed[x];
+                    break;
+                case _S_:
+                    waittime = wait_S;
+                    mortar_S = speed[x];
+                    break;
+            }
+            wait(waittime);
+        }
+    }
+}
+
+void ALLSTOP() {
+    setspeed(STOP, _A_);
+    setspeed(STOP, _U_);
+    setspeed(STOP, _M_);
+    setspeed(STOP, _S_);
+}