Tony YI
/
ESDC2014
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lifter.h@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 "mbed.h" |
TonyYI | 0:3417ca0a36c0 | 29 | #include "define.h" |
TonyYI | 0:3417ca0a36c0 | 30 | |
TonyYI | 0:3417ca0a36c0 | 31 | #ifndef _LIFTER_H |
TonyYI | 0:3417ca0a36c0 | 32 | #define _LIFTER_H |
TonyYI | 0:3417ca0a36c0 | 33 | |
TonyYI | 0:3417ca0a36c0 | 34 | /* |
TonyYI | 0:3417ca0a36c0 | 35 | DigitalOut lifter_enable(p23); |
TonyYI | 0:3417ca0a36c0 | 36 | PwmOut lifter_pwmUp(p21); |
TonyYI | 0:3417ca0a36c0 | 37 | PwmOut lifter_pwmDown(p22); |
TonyYI | 0:3417ca0a36c0 | 38 | DigitalIn lifter_encoder_A(p26); |
TonyYI | 0:3417ca0a36c0 | 39 | DigitalIn lifter_encoder_B(p25); |
TonyYI | 0:3417ca0a36c0 | 40 | */ |
TonyYI | 0:3417ca0a36c0 | 41 | |
TonyYI | 0:3417ca0a36c0 | 42 | //100 pulse => 8 mm |
TonyYI | 0:3417ca0a36c0 | 43 | #define RPMM 13 //pulseCount per mm |
TonyYI | 0:3417ca0a36c0 | 44 | |
TonyYI | 0:3417ca0a36c0 | 45 | class Lifter |
TonyYI | 0:3417ca0a36c0 | 46 | { |
TonyYI | 0:3417ca0a36c0 | 47 | public: |
TonyYI | 0:3417ca0a36c0 | 48 | Lifter(MyDigitalOut* _enable, MyPwmOut* _pwmUp, MyPwmOut* _pwmDown, MyInterruptIn* encoder_A, MyDigitalIn* encoder_B); |
TonyYI | 0:3417ca0a36c0 | 49 | ~Lifter(); |
TonyYI | 0:3417ca0a36c0 | 50 | void lifterUp(uint16_t mm); |
TonyYI | 0:3417ca0a36c0 | 51 | void lifterDown(uint16_t mm); |
TonyYI | 0:3417ca0a36c0 | 52 | void lifterMove(uint16_t move_dis, uint8_t move_dir, uint16_t rotate_dis, uint8_t rotate_dir); |
TonyYI | 0:3417ca0a36c0 | 53 | uint8_t getDir(); |
TonyYI | 0:3417ca0a36c0 | 54 | uint8_t isStopped(); |
TonyYI | 0:3417ca0a36c0 | 55 | |
TonyYI | 0:3417ca0a36c0 | 56 | uint32_t pulseCount; |
TonyYI | 0:3417ca0a36c0 | 57 | uint32_t targetPulseCount; |
TonyYI | 0:3417ca0a36c0 | 58 | |
TonyYI | 0:3417ca0a36c0 | 59 | void setLifterStop(); |
TonyYI | 0:3417ca0a36c0 | 60 | void setLifterUp(); |
TonyYI | 0:3417ca0a36c0 | 61 | void setLifterDown(); |
TonyYI | 0:3417ca0a36c0 | 62 | |
TonyYI | 0:3417ca0a36c0 | 63 | private: |
TonyYI | 0:3417ca0a36c0 | 64 | MyDigitalOut* _enable; |
TonyYI | 0:3417ca0a36c0 | 65 | MyPwmOut* _pwmUp; |
TonyYI | 0:3417ca0a36c0 | 66 | MyPwmOut* _pwmDown; |
TonyYI | 0:3417ca0a36c0 | 67 | MyInterruptIn* _encoder_A; //6 pulse per round |
TonyYI | 0:3417ca0a36c0 | 68 | MyDigitalIn* _encoder_B; //5v is up, 0v is down. looks like no use |
TonyYI | 0:3417ca0a36c0 | 69 | uint8_t _dir; |
TonyYI | 0:3417ca0a36c0 | 70 | uint8_t _stop; //0 means moving, 1 means stopped |
TonyYI | 0:3417ca0a36c0 | 71 | }; |
TonyYI | 0:3417ca0a36c0 | 72 | |
TonyYI | 0:3417ca0a36c0 | 73 | #endif |