lifter.cpp

00001 /******************************************************
00002 
00003 ****┏┓          ┏┓
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00009 **┃ '''    ┻   ''' ┃
00010 **┃                 ┃
00011 **┗━━┓       ┏━━┛
00012 *******┃       ┃
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00014 *******┃       ┃
00015 *******┃       ┗━━━━━━━━┓
00016 *******┃                      ┃━┓
00017 *******┃      NO BUG          ┏━┛
00018 *******┃                      ┃
00019 *******┗━┓  ┓  ┏━┏━┓  ━┛
00020 ***********┃  ┛  ┛    ┃  ┛  ┛
00021 ***********┃  ┃  ┃    ┃  ┃  ┃
00022 ***********┗━┛━┛     ┗━┛━┛
00023 
00024 This part is added by project ESDC2014 of CUHK team.
00025 All the code with this header are under GPL open source license.
00026 This program is running on Mbed Platform 'mbed LPC1768' avaliable in 'http://mbed.org'.
00027 **********************************************************/
00028 #include "lifter.h"
00029 
00030 Lifter::Lifter(MyDigitalOut* _enable, MyPwmOut* _pwmUp, MyPwmOut* _pwmDown, MyInterruptIn* _encoder_A, MyDigitalIn* _encoder_B)
00031 {
00032     pulseCount = 0;
00033     targetPulseCount = 0;
00034     _dir = 0;
00035     _stop = 0;
00036     
00037     this->_enable = _enable;
00038     this->_pwmUp = _pwmUp;
00039     this->_pwmDown = _pwmDown;
00040     this->_encoder_A = _encoder_A;
00041     this->_encoder_B = _encoder_B;
00042     
00043     setLifterStop();
00044 }
00045 
00046 Lifter::~Lifter()
00047 {
00048     delete _enable;
00049     delete _pwmUp;
00050     delete _pwmDown;
00051     delete _encoder_A; //6 pulse per round
00052     delete _encoder_B; //5v is up, 0v is down. looks like no use
00053 }
00054 
00055 void Lifter::lifterUp(uint16_t mm)
00056 {
00057     targetPulseCount = mm * RPMM;
00058     //targetPulseCount = mm;
00059     setLifterUp();
00060 }
00061 
00062 void Lifter::lifterDown(uint16_t mm)
00063 {
00064     targetPulseCount = mm * RPMM;
00065     //targetPulseCount = mm;
00066     setLifterDown();
00067 }
00068 
00069 uint8_t Lifter::getDir()
00070 {
00071     /*
00072     if(*_encoder_B == 1) //up
00073     {
00074         return true;
00075     }
00076     else //down
00077     {
00078         return false;
00079     }
00080     */
00081     return _dir;
00082 }
00083 uint8_t Lifter::isStopped()
00084 {
00085     return _stop;
00086 }
00087 
00088 void Lifter::lifterMove(uint16_t move_dis, uint8_t move_dir, uint16_t rotate_dis, uint8_t rotate_dir)
00089 {
00090     pulseCount = targetPulseCount = 0;
00091     _stop = 0;
00092     
00093     if(_dir = move_dir == 0x00) //up
00094     {
00095         lifterUp(move_dis);
00096     }
00097     else if(_dir = move_dir == 0x02) //down
00098     {
00099         lifterDown(move_dis);
00100     }
00101 }
00102 
00103 void Lifter::setLifterStop()
00104 {
00105     *_enable = 0;
00106     *_pwmUp = 1.0f;
00107     *_pwmDown = 1.0f;
00108     _stop = 1;
00109 }
00110 void Lifter::setLifterUp()
00111 {
00112     *_enable = 0;
00113     *_pwmUp = 1.0f;
00114     *_pwmDown = 0.0f;
00115 }
00116 void Lifter::setLifterDown()
00117 {
00118     *_enable = 0;
00119     *_pwmUp = 0.0f;
00120     *_pwmDown = 1.0f;
00121 }