Tony YI
/
ESDC2014
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lifter.cpp@0:3417ca0a36c0, 2014-07-01 (annotated)
- Committer:
- TonyYI
- Date:
- Tue Jul 01 10:59:33 2014 +0000
- Revision:
- 0:3417ca0a36c0
2014
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
TonyYI | 0:3417ca0a36c0 | 1 | /****************************************************** |
TonyYI | 0:3417ca0a36c0 | 2 | |
TonyYI | 0:3417ca0a36c0 | 3 | ****┏┓ ┏┓ |
TonyYI | 0:3417ca0a36c0 | 4 | **┏┛┻━━━━━━┛┻┓ |
TonyYI | 0:3417ca0a36c0 | 5 | **┃ ┃ |
TonyYI | 0:3417ca0a36c0 | 6 | **┃ ━━━ ┃ |
TonyYI | 0:3417ca0a36c0 | 7 | **┃ ┳┛ ┗┳ ┃ |
TonyYI | 0:3417ca0a36c0 | 8 | **┃ ┃ |
TonyYI | 0:3417ca0a36c0 | 9 | **┃ ''' ┻ ''' ┃ |
TonyYI | 0:3417ca0a36c0 | 10 | **┃ ┃ |
TonyYI | 0:3417ca0a36c0 | 11 | **┗━━┓ ┏━━┛ |
TonyYI | 0:3417ca0a36c0 | 12 | *******┃ ┃ |
TonyYI | 0:3417ca0a36c0 | 13 | *******┃ ┃ |
TonyYI | 0:3417ca0a36c0 | 14 | *******┃ ┃ |
TonyYI | 0:3417ca0a36c0 | 15 | *******┃ ┗━━━━━━━━┓ |
TonyYI | 0:3417ca0a36c0 | 16 | *******┃ ┃━┓ |
TonyYI | 0:3417ca0a36c0 | 17 | *******┃ NO BUG ┏━┛ |
TonyYI | 0:3417ca0a36c0 | 18 | *******┃ ┃ |
TonyYI | 0:3417ca0a36c0 | 19 | *******┗━┓ ┓ ┏━┏━┓ ━┛ |
TonyYI | 0:3417ca0a36c0 | 20 | ***********┃ ┛ ┛ ┃ ┛ ┛ |
TonyYI | 0:3417ca0a36c0 | 21 | ***********┃ ┃ ┃ ┃ ┃ ┃ |
TonyYI | 0:3417ca0a36c0 | 22 | ***********┗━┛━┛ ┗━┛━┛ |
TonyYI | 0:3417ca0a36c0 | 23 | |
TonyYI | 0:3417ca0a36c0 | 24 | This part is added by project ESDC2014 of CUHK team. |
TonyYI | 0:3417ca0a36c0 | 25 | All the code with this header are under GPL open source license. |
TonyYI | 0:3417ca0a36c0 | 26 | This program is running on Mbed Platform 'mbed LPC1768' avaliable in 'http://mbed.org'. |
TonyYI | 0:3417ca0a36c0 | 27 | **********************************************************/ |
TonyYI | 0:3417ca0a36c0 | 28 | #include "lifter.h" |
TonyYI | 0:3417ca0a36c0 | 29 | |
TonyYI | 0:3417ca0a36c0 | 30 | Lifter::Lifter(MyDigitalOut* _enable, MyPwmOut* _pwmUp, MyPwmOut* _pwmDown, MyInterruptIn* _encoder_A, MyDigitalIn* _encoder_B) |
TonyYI | 0:3417ca0a36c0 | 31 | { |
TonyYI | 0:3417ca0a36c0 | 32 | pulseCount = 0; |
TonyYI | 0:3417ca0a36c0 | 33 | targetPulseCount = 0; |
TonyYI | 0:3417ca0a36c0 | 34 | _dir = 0; |
TonyYI | 0:3417ca0a36c0 | 35 | _stop = 0; |
TonyYI | 0:3417ca0a36c0 | 36 | |
TonyYI | 0:3417ca0a36c0 | 37 | this->_enable = _enable; |
TonyYI | 0:3417ca0a36c0 | 38 | this->_pwmUp = _pwmUp; |
TonyYI | 0:3417ca0a36c0 | 39 | this->_pwmDown = _pwmDown; |
TonyYI | 0:3417ca0a36c0 | 40 | this->_encoder_A = _encoder_A; |
TonyYI | 0:3417ca0a36c0 | 41 | this->_encoder_B = _encoder_B; |
TonyYI | 0:3417ca0a36c0 | 42 | |
TonyYI | 0:3417ca0a36c0 | 43 | setLifterStop(); |
TonyYI | 0:3417ca0a36c0 | 44 | } |
TonyYI | 0:3417ca0a36c0 | 45 | |
TonyYI | 0:3417ca0a36c0 | 46 | Lifter::~Lifter() |
TonyYI | 0:3417ca0a36c0 | 47 | { |
TonyYI | 0:3417ca0a36c0 | 48 | delete _enable; |
TonyYI | 0:3417ca0a36c0 | 49 | delete _pwmUp; |
TonyYI | 0:3417ca0a36c0 | 50 | delete _pwmDown; |
TonyYI | 0:3417ca0a36c0 | 51 | delete _encoder_A; //6 pulse per round |
TonyYI | 0:3417ca0a36c0 | 52 | delete _encoder_B; //5v is up, 0v is down. looks like no use |
TonyYI | 0:3417ca0a36c0 | 53 | } |
TonyYI | 0:3417ca0a36c0 | 54 | |
TonyYI | 0:3417ca0a36c0 | 55 | void Lifter::lifterUp(uint16_t mm) |
TonyYI | 0:3417ca0a36c0 | 56 | { |
TonyYI | 0:3417ca0a36c0 | 57 | targetPulseCount = mm * RPMM; |
TonyYI | 0:3417ca0a36c0 | 58 | //targetPulseCount = mm; |
TonyYI | 0:3417ca0a36c0 | 59 | setLifterUp(); |
TonyYI | 0:3417ca0a36c0 | 60 | } |
TonyYI | 0:3417ca0a36c0 | 61 | |
TonyYI | 0:3417ca0a36c0 | 62 | void Lifter::lifterDown(uint16_t mm) |
TonyYI | 0:3417ca0a36c0 | 63 | { |
TonyYI | 0:3417ca0a36c0 | 64 | targetPulseCount = mm * RPMM; |
TonyYI | 0:3417ca0a36c0 | 65 | //targetPulseCount = mm; |
TonyYI | 0:3417ca0a36c0 | 66 | setLifterDown(); |
TonyYI | 0:3417ca0a36c0 | 67 | } |
TonyYI | 0:3417ca0a36c0 | 68 | |
TonyYI | 0:3417ca0a36c0 | 69 | uint8_t Lifter::getDir() |
TonyYI | 0:3417ca0a36c0 | 70 | { |
TonyYI | 0:3417ca0a36c0 | 71 | /* |
TonyYI | 0:3417ca0a36c0 | 72 | if(*_encoder_B == 1) //up |
TonyYI | 0:3417ca0a36c0 | 73 | { |
TonyYI | 0:3417ca0a36c0 | 74 | return true; |
TonyYI | 0:3417ca0a36c0 | 75 | } |
TonyYI | 0:3417ca0a36c0 | 76 | else //down |
TonyYI | 0:3417ca0a36c0 | 77 | { |
TonyYI | 0:3417ca0a36c0 | 78 | return false; |
TonyYI | 0:3417ca0a36c0 | 79 | } |
TonyYI | 0:3417ca0a36c0 | 80 | */ |
TonyYI | 0:3417ca0a36c0 | 81 | return _dir; |
TonyYI | 0:3417ca0a36c0 | 82 | } |
TonyYI | 0:3417ca0a36c0 | 83 | uint8_t Lifter::isStopped() |
TonyYI | 0:3417ca0a36c0 | 84 | { |
TonyYI | 0:3417ca0a36c0 | 85 | return _stop; |
TonyYI | 0:3417ca0a36c0 | 86 | } |
TonyYI | 0:3417ca0a36c0 | 87 | |
TonyYI | 0:3417ca0a36c0 | 88 | void Lifter::lifterMove(uint16_t move_dis, uint8_t move_dir, uint16_t rotate_dis, uint8_t rotate_dir) |
TonyYI | 0:3417ca0a36c0 | 89 | { |
TonyYI | 0:3417ca0a36c0 | 90 | pulseCount = targetPulseCount = 0; |
TonyYI | 0:3417ca0a36c0 | 91 | _stop = 0; |
TonyYI | 0:3417ca0a36c0 | 92 | |
TonyYI | 0:3417ca0a36c0 | 93 | if(_dir = move_dir == 0x00) //up |
TonyYI | 0:3417ca0a36c0 | 94 | { |
TonyYI | 0:3417ca0a36c0 | 95 | lifterUp(move_dis); |
TonyYI | 0:3417ca0a36c0 | 96 | } |
TonyYI | 0:3417ca0a36c0 | 97 | else if(_dir = move_dir == 0x02) //down |
TonyYI | 0:3417ca0a36c0 | 98 | { |
TonyYI | 0:3417ca0a36c0 | 99 | lifterDown(move_dis); |
TonyYI | 0:3417ca0a36c0 | 100 | } |
TonyYI | 0:3417ca0a36c0 | 101 | } |
TonyYI | 0:3417ca0a36c0 | 102 | |
TonyYI | 0:3417ca0a36c0 | 103 | void Lifter::setLifterStop() |
TonyYI | 0:3417ca0a36c0 | 104 | { |
TonyYI | 0:3417ca0a36c0 | 105 | *_enable = 0; |
TonyYI | 0:3417ca0a36c0 | 106 | *_pwmUp = 1.0f; |
TonyYI | 0:3417ca0a36c0 | 107 | *_pwmDown = 1.0f; |
TonyYI | 0:3417ca0a36c0 | 108 | _stop = 1; |
TonyYI | 0:3417ca0a36c0 | 109 | } |
TonyYI | 0:3417ca0a36c0 | 110 | void Lifter::setLifterUp() |
TonyYI | 0:3417ca0a36c0 | 111 | { |
TonyYI | 0:3417ca0a36c0 | 112 | *_enable = 0; |
TonyYI | 0:3417ca0a36c0 | 113 | *_pwmUp = 1.0f; |
TonyYI | 0:3417ca0a36c0 | 114 | *_pwmDown = 0.0f; |
TonyYI | 0:3417ca0a36c0 | 115 | } |
TonyYI | 0:3417ca0a36c0 | 116 | void Lifter::setLifterDown() |
TonyYI | 0:3417ca0a36c0 | 117 | { |
TonyYI | 0:3417ca0a36c0 | 118 | *_enable = 0; |
TonyYI | 0:3417ca0a36c0 | 119 | *_pwmUp = 0.0f; |
TonyYI | 0:3417ca0a36c0 | 120 | *_pwmDown = 1.0f; |
TonyYI | 0:3417ca0a36c0 | 121 | } |