Diff: lifter.cpp

Revision:

0:3417ca0a36c0

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/lifter.cpp	Tue Jul 01 10:59:33 2014 +0000
@@ -0,0 +1,121 @@
+/******************************************************
+
+****┏┓          ┏┓
+**┏┛┻━━━━━━┛┻┓
+**┃                 ┃
+**┃      ━━━      ┃
+**┃  ┳┛       ┗┳ ┃
+**┃                 ┃
+**┃ '''    ┻   ''' ┃
+**┃                 ┃
+**┗━━┓       ┏━━┛
+*******┃       ┃
+*******┃       ┃
+*******┃       ┃
+*******┃       ┗━━━━━━━━┓
+*******┃                      ┃━┓
+*******┃      NO BUG          ┏━┛
+*******┃                      ┃
+*******┗━┓  ┓  ┏━┏━┓  ━┛
+***********┃  ┛  ┛    ┃  ┛  ┛
+***********┃  ┃  ┃    ┃  ┃  ┃
+***********┗━┛━┛     ┗━┛━┛
+
+This part is added by project ESDC2014 of CUHK team.
+All the code with this header are under GPL open source license.
+This program is running on Mbed Platform 'mbed LPC1768' avaliable in 'http://mbed.org'.
+**********************************************************/
+#include "lifter.h"
+
+Lifter::Lifter(MyDigitalOut* _enable, MyPwmOut* _pwmUp, MyPwmOut* _pwmDown, MyInterruptIn* _encoder_A, MyDigitalIn* _encoder_B)
+{
+    pulseCount = 0;
+    targetPulseCount = 0;
+    _dir = 0;
+    _stop = 0;
+    
+    this->_enable = _enable;
+    this->_pwmUp = _pwmUp;
+    this->_pwmDown = _pwmDown;
+    this->_encoder_A = _encoder_A;
+    this->_encoder_B = _encoder_B;
+    
+    setLifterStop();
+}
+
+Lifter::~Lifter()
+{
+    delete _enable;
+    delete _pwmUp;
+    delete _pwmDown;
+    delete _encoder_A; //6 pulse per round
+    delete _encoder_B; //5v is up, 0v is down. looks like no use
+}
+
+void Lifter::lifterUp(uint16_t mm)
+{
+    targetPulseCount = mm * RPMM;
+    //targetPulseCount = mm;
+    setLifterUp();
+}
+
+void Lifter::lifterDown(uint16_t mm)
+{
+    targetPulseCount = mm * RPMM;
+    //targetPulseCount = mm;
+    setLifterDown();
+}
+
+uint8_t Lifter::getDir()
+{
+    /*
+    if(*_encoder_B == 1) //up
+    {
+        return true;
+    }
+    else //down
+    {
+        return false;
+    }
+    */
+    return _dir;
+}
+uint8_t Lifter::isStopped()
+{
+    return _stop;
+}
+
+void Lifter::lifterMove(uint16_t move_dis, uint8_t move_dir, uint16_t rotate_dis, uint8_t rotate_dir)
+{
+    pulseCount = targetPulseCount = 0;
+    _stop = 0;
+    
+    if(_dir = move_dir == 0x00) //up
+    {
+        lifterUp(move_dis);
+    }
+    else if(_dir = move_dir == 0x02) //down
+    {
+        lifterDown(move_dis);
+    }
+}
+
+void Lifter::setLifterStop()
+{
+    *_enable = 0;
+    *_pwmUp = 1.0f;
+    *_pwmDown = 1.0f;
+    _stop = 1;
+}
+void Lifter::setLifterUp()
+{
+    *_enable = 0;
+    *_pwmUp = 1.0f;
+    *_pwmDown = 0.0f;
+}
+void Lifter::setLifterDown()
+{
+    *_enable = 0;
+    *_pwmUp = 0.0f;
+    *_pwmDown = 1.0f;
+}