Diff: coilgun.h

Revision:

6:4c75db8a43db

Parent:

4:0e2bdd3d52bc

Child:

8:eee78d8bfdb9

--- a/coilgun.h	Wed Sep 18 10:50:22 2013 +0000
+++ b/coilgun.h	Wed Sep 18 11:20:31 2013 +0000
@@ -1,49 +1,37 @@
 #ifndef COILGUN_H
 #define COILGUN_H
-
+ 
 #include "mbed.h"
-
-/** Interface to the CoilGun*/
-class CoilGun {
+ 
+/** Class for controlling coilgun */
+class Coilgun {
 public:
-    /** Create an instance of the CoilGun connected to specfied pins.
-     *
-     * @param chargePinName The charge pin.
-     * @param kickPinName The kick pin.
-     * @param donePinName The done pin.
-     */
-    CoilGun(PinName chargePinName, PinName kickPinName, PinName donePinName);
-    
-    /** Kick with coilgun.
-     *
-     * @param length The length of the kick in uS
-     */
+    Coilgun(PinName kickPinName ,PinName chargePinName, PinName donePinName);
     void kick(unsigned int length);
-    
-    /** Discharge coilgun */
-    void discharge(void);
-    
-    /** turn charging on or off
-     *
-     * @param chargeState Set true to charge. False, to not charge.
-     */
-    void setCharge(bool chargeState);
- 
-private:
-    DigitalOut chargePin;
-    DigitalOut kickPin;
-    InterruptIn donePin;
-    void doneCallback(void);
-    
-    bool kicking; //True while kick is in progress
-    Timeout kickTimeout; // This will end kicking
     void kickEnd(void);
     
-    bool discharging; //True as long discharging is in progress
+    void charge(void);
+    void chargeEnd(void);
+    
+    void discharge(void);
+    void dischargeEnd(void);
+    
+    
+private:
+    enum State {idle, kicking, charging, discharging};
+    State state;
+    
+    DigitalOut kickPin;
+    DigitalOut chargePin;
+    InterruptIn donePin;
+ 
+    Timeout kickTimeout; // This will end kicking
     Timeout dischargeTimeout; // This will end discharging
     Ticker discharger; // Calls short kicks during discharge
-    void dischargeKick(void); //Short kick for discharging
-    void dischargeEnd(void); //Method that ends discharging (dischargeTimeout calls this)
+    
+    void changeState(State new_state);
+    void dischargeKick(void);
+    void kick(unsigned int length, bool change_state);
 };
-
+ 
 #endif
\ No newline at end of file