coilgun.h

00001 #ifndef COILGUN_H
00002 #define COILGUN_H
00003  
00004 #include "mbed.h"
00005  
00006 /** Class for controlling coilgun */
00007 class Coilgun {
00008 public:
00009     /** Create an instance of the Coilgun connected to specfied pins */
00010     Coilgun(PinName kickPinName ,PinName chargePinName, PinName donePinName);
00011     
00012     /** Kick with coilgun */
00013     void kick(unsigned int length);
00014     /** Stop kick */
00015     void kickEnd(void);
00016     
00017     /** Charge capacitor */
00018     void charge(void);
00019     /** Stop charging capacitor */
00020     void chargeEnd(void);
00021     
00022     /** Discharge capacitor */
00023     void discharge(void);
00024     /** Stop discharging */
00025     void dischargeEnd(void);
00026     
00027     /** Read only
00028      * Will be set to true, when charge() is called,
00029      * false, when discharge is called.
00030      * NB! if discharge is interrupted, capacitor may still have some charge on it.
00031      */
00032     bool isCharged;
00033     
00034 private:
00035     enum State {idle, kicking, charging, discharging};
00036     State state;
00037     
00038     DigitalOut kickPin;
00039     DigitalOut chargePin;
00040     InterruptIn donePin;
00041  
00042     Timeout kickTimeout; // This will end kicking
00043     Timeout dischargeTimeout; // This will end discharging
00044     Ticker discharger; // Calls short kicks during discharge
00045     
00046     void changeState(State new_state);
00047     void dischargeKick(void);
00048     void kick(unsigned int length, bool change_state);
00049 };
00050  
00051 #endif