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 chipPinName, PinName chargePinName, PinName donePinName);
00011     
00012     /** Kick with coilgun */
00013     void kick(unsigned int kickLength, unsigned int kickDelay, unsigned int chipLength, unsigned int chipDelay);
00014     /** Stop kick */
00015     void kickEnd(void);
00016     void chipEnd(void);
00017     
00018     /** Charge capacitor */
00019     void charge(void);
00020     /** Stop charging capacitor */
00021     void chargeEnd(void);
00022     
00023     /** Discharge capacitor */
00024     void discharge(void);
00025     /** Stop discharging */
00026     void dischargeEnd(void);
00027     
00028     /** Read only
00029      * Will be set to true, when charge() is called,
00030      * false, when discharge is called.
00031      * NB! if discharge is interrupted, capacitor may still have some charge on it.
00032      */
00033     bool isCharged;
00034     
00035 private:
00036     enum State {idle, kicking, charging, discharging};
00037     State state;
00038     
00039     unsigned int currentKickLength;
00040     unsigned int currentKickDelay;
00041     unsigned int currentChipLength;
00042     unsigned int currentChipDelay;
00043     
00044     DigitalOut kickPin;
00045     DigitalOut chipPin;
00046     DigitalOut chargePin;
00047     InterruptIn donePin;
00048  
00049     Timeout kickTimeout; // This will end kicking
00050     Timeout kickDelayTimeout;
00051     Timeout chipTimeout;
00052     Timeout chipDelayTimeout;
00053     
00054     bool kickActive;
00055     bool chipActive;
00056     
00057     Timeout dischargeTimeout; // This will end discharging
00058     Ticker discharger; // Calls short kicks during discharge
00059     
00060     void kickDelayEnd(void);
00061     void chipDelayEnd(void);
00062     
00063     void changeState(State new_state);
00064     void dischargeKick(void);
00065     void kick(unsigned int kickLength, unsigned int kickDelay, unsigned int chipLength, unsigned int chipDelay, bool change_state);
00066 };
00067  
00068 #endif