Miya Miyagawa / Mbed 2 deprecated Main_2019_B_Auto_TAMAYA

The last version programs

Dependencies:   mbed TrapezoidControl Pulse QEI

Input/Switch/Switch.cpp@22:7d93f79a3686, 2019-09-17 (annotated)

Committer:
M_souta
Date:
Tue Sep 17 04:40:17 2019 +0000
Revision:
22:7d93f79a3686
Parent:
19:96a462583af9 
kkk

Who changed what in which revision?

UserRevisionLine numberNew contents of line
t_yamamoto 0:669ef71cba68 1 #include "Switch.h"
t_yamamoto 0:669ef71cba68 2
t_yamamoto 0:669ef71cba68 3 #include <stdint.h>
t_yamamoto 0:669ef71cba68 4 #include "mbed.h"
t_yamamoto 0:669ef71cba68 5
t_yamamoto 0:669ef71cba68 6 namespace SWITCH {
t_yamamoto 0:669ef71cba68 7 DigitalIn dipSw[] = {
t_yamamoto 0:669ef71cba68 8 DigitalIn(DIP0_PIN),
t_yamamoto 0:669ef71cba68 9 DigitalIn(DIP1_PIN),
t_yamamoto 0:669ef71cba68 10 DigitalIn(DIP2_PIN),
t_yamamoto 0:669ef71cba68 11 DigitalIn(DIP3_PIN),
t_yamamoto 0:669ef71cba68 12 };
t_yamamoto 0:669ef71cba68 13
t_yamamoto 0:669ef71cba68 14 DigitalIn limitSw(LS_PIN);
7ka884 4:ba9df71868df 15
t_yamamoto 0:669ef71cba68 16 DigitalOut selectPin[] = {
t_yamamoto 0:669ef71cba68 17 DigitalOut(SELECT0_PIN),
t_yamamoto 0:669ef71cba68 18 DigitalOut(SELECT1_PIN),
t_yamamoto 0:669ef71cba68 19 DigitalOut(SELECT2_PIN),
t_yamamoto 0:669ef71cba68 20 DigitalOut(SELECT3_PIN),
t_yamamoto 0:669ef71cba68 21 };
M_souta 22:7d93f79a3686 22
M_souta 22:7d93f79a3686 23 DigitalIn limitSw_N[] = {
M_souta 22:7d93f79a3686 24 DigitalIn(LS_16),
M_souta 22:7d93f79a3686 25 DigitalIn(LS_17),
M_souta 22:7d93f79a3686 26 DigitalIn(LS_18),
M_souta 22:7d93f79a3686 27 DigitalIn(LS_19),
M_souta 22:7d93f79a3686 28 DigitalIn(LS_20),
M_souta 22:7d93f79a3686 29 };
t_yamamoto 0:669ef71cba68 30
t_yamamoto 0:669ef71cba68 31 void DipSw::Initialize() {
t_yamamoto 0:669ef71cba68 32 for(uint8_t i=0; i < sizeof(dipSw)/sizeof(dipSw[0]); i++) {
t_yamamoto 0:669ef71cba68 33 dipSw[i].mode(PullUp);
t_yamamoto 0:669ef71cba68 34 }
t_yamamoto 0:669ef71cba68 35 }
t_yamamoto 0:669ef71cba68 36
t_yamamoto 0:669ef71cba68 37 uint8_t DipSw::GetStatus() {
t_yamamoto 0:669ef71cba68 38 if(DIP0 == SW_ON) return 0;
t_yamamoto 0:669ef71cba68 39 else if(DIP1 == SW_ON) return 1;
t_yamamoto 0:669ef71cba68 40 else if(DIP2 == SW_ON) return 2;
t_yamamoto 0:669ef71cba68 41 else if(DIP3 == SW_ON) return 3;
t_yamamoto 0:669ef71cba68 42
t_yamamoto 0:669ef71cba68 43 return 0;
t_yamamoto 0:669ef71cba68 44 }
t_yamamoto 0:669ef71cba68 45
t_yamamoto 0:669ef71cba68 46 void LimitSw::Initialize() {
t_yamamoto 0:669ef71cba68 47 for(uint8_t i=0; i<4; i++) selectPin[i] = 0;
t_yamamoto 0:669ef71cba68 48 limitSw.mode(PullUp);
t_yamamoto 0:669ef71cba68 49 }
t_yamamoto 0:669ef71cba68 50
t_yamamoto 0:669ef71cba68 51 bool LimitSw::IsPressed(int index) {
t_yamamoto 0:669ef71cba68 52
t_yamamoto 0:669ef71cba68 53 MP_Channel ch;
M_souta 22:7d93f79a3686 54 bool button;
7ka884 1:b1219d8ca117 55
7ka884 1:b1219d8ca117 56 switch(index){
7ka884 1:b1219d8ca117 57 case 0:
kishibekairohan 16:3f2c2d89372b 58 ch.all = 9;
7ka884 1:b1219d8ca117 59 break;
M_souta 22:7d93f79a3686 60 case 1:
kishibekairohan 16:3f2c2d89372b 61 ch.all = 11;
7ka884 1:b1219d8ca117 62 break;
M_souta 22:7d93f79a3686 63 case 2:
M_souta 22:7d93f79a3686 64 ch.all = 13;
M_souta 22:7d93f79a3686 65 break;
M_souta 22:7d93f79a3686 66 case 3:
M_souta 22:7d93f79a3686 67 ch.all = 15;
M_souta 22:7d93f79a3686 68 break;
7ka884 1:b1219d8ca117 69 case 4:
M_souta 22:7d93f79a3686 70 ch.all = 8;
kishibekairohan 16:3f2c2d89372b 71 break;
kishibekairohan 16:3f2c2d89372b 72 case 5:
M_souta 22:7d93f79a3686 73 ch.all = 10;
kishibekairohan 16:3f2c2d89372b 74 break;
kishibekairohan 16:3f2c2d89372b 75 case 6:
M_souta 22:7d93f79a3686 76 ch.all = 12;
kishibekairohan 16:3f2c2d89372b 77 break;
kishibekairohan 16:3f2c2d89372b 78 case 7:
M_souta 22:7d93f79a3686 79 ch.all = 14;
kishibekairohan 16:3f2c2d89372b 80 break;
kishibekairohan 16:3f2c2d89372b 81 case 8:
kishibekairohan 16:3f2c2d89372b 82 ch.all = 7;
kishibekairohan 16:3f2c2d89372b 83 break;
kishibekairohan 16:3f2c2d89372b 84 case 9:
M_souta 22:7d93f79a3686 85 ch.all = 4;
7ka884 1:b1219d8ca117 86 break;
kishibekairohan 16:3f2c2d89372b 87 case 10:
M_souta 22:7d93f79a3686 88 ch.all = 2;
7ka884 1:b1219d8ca117 89 break;
kishibekairohan 16:3f2c2d89372b 90 case 11:
M_souta 22:7d93f79a3686 91 ch.all = 0;
7ka884 1:b1219d8ca117 92 break;
kishibekairohan 16:3f2c2d89372b 93 case 12:
M_souta 22:7d93f79a3686 94 ch.all = 6;
7ka884 1:b1219d8ca117 95 break;
kishibekairohan 16:3f2c2d89372b 96 case 13:
M_souta 22:7d93f79a3686 97 ch.all = 5;
7ka884 1:b1219d8ca117 98 break;
kishibekairohan 16:3f2c2d89372b 99 case 14:
M_souta 22:7d93f79a3686 100 ch.all = 3;
kishibekairohan 16:3f2c2d89372b 101 break;
kishibekairohan 16:3f2c2d89372b 102 case 15:
M_souta 22:7d93f79a3686 103 ch.all = 1;
M_souta 22:7d93f79a3686 104 break;
M_souta 22:7d93f79a3686 105 case 16:
M_souta 22:7d93f79a3686 106 button = limitSw_N[0];
M_souta 22:7d93f79a3686 107 break;
M_souta 22:7d93f79a3686 108 case 17:
M_souta 22:7d93f79a3686 109 button = limitSw_N[1];
M_souta 22:7d93f79a3686 110 break;
M_souta 22:7d93f79a3686 111 case 18:
M_souta 22:7d93f79a3686 112 button = limitSw_N[2];
M_souta 22:7d93f79a3686 113 break;
M_souta 22:7d93f79a3686 114 case 19:
M_souta 22:7d93f79a3686 115 button = limitSw_N[3];
M_souta 22:7d93f79a3686 116 break;
M_souta 22:7d93f79a3686 117 case 20:
M_souta 22:7d93f79a3686 118 button = limitSw_N[4];
kishibekairohan 16:3f2c2d89372b 119 break;
7ka884 1:b1219d8ca117 120 }
7ka884 1:b1219d8ca117 121
t_yamamoto 0:669ef71cba68 122
t_yamamoto 0:669ef71cba68 123 selectPin[0] = ch.s0;
t_yamamoto 0:669ef71cba68 124 selectPin[1] = ch.s1;
t_yamamoto 0:669ef71cba68 125 selectPin[2] = ch.s2;
t_yamamoto 0:669ef71cba68 126 selectPin[3] = ch.s3;
7ka884 4:ba9df71868df 127
7ka884 1:b1219d8ca117 128 wait_us(1);
t_yamamoto 0:669ef71cba68 129
M_souta 22:7d93f79a3686 130 if(index < 16) return limitSw ? false : true;
M_souta 22:7d93f79a3686 131 else return button ? false : true;
t_yamamoto 0:669ef71cba68 132 }
t_yamamoto 0:669ef71cba68 133 }