lifter.h

00001 /******************************************************
00002 
00003 ****┏┓          ┏┓
00004 **┏┛┻━━━━━━┛┻┓
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00008 **┃                 ┃
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 "mbed.h"
00029 #include "define.h"
00030 
00031 #ifndef _LIFTER_H
00032 #define _LIFTER_H
00033 
00034 /*
00035 DigitalOut lifter_enable(p23);
00036 PwmOut lifter_pwmUp(p21);
00037 PwmOut lifter_pwmDown(p22);
00038 DigitalIn lifter_encoder_A(p26);
00039 DigitalIn lifter_encoder_B(p25);
00040 */
00041 
00042 //100 pulse => 8 mm
00043 #define RPMM 13 //pulseCount per mm
00044 
00045 class Lifter
00046 {
00047 public:
00048     Lifter(MyDigitalOut* _enable, MyPwmOut* _pwmUp, MyPwmOut* _pwmDown, MyInterruptIn* encoder_A, MyDigitalIn* encoder_B);
00049     ~Lifter();
00050     void lifterUp(uint16_t mm);
00051     void lifterDown(uint16_t mm);
00052     void lifterMove(uint16_t move_dis, uint8_t move_dir, uint16_t rotate_dis, uint8_t rotate_dir);
00053     uint8_t getDir();
00054     uint8_t isStopped();
00055     
00056     uint32_t pulseCount;
00057     uint32_t targetPulseCount;
00058     
00059     void setLifterStop();
00060     void setLifterUp();
00061     void setLifterDown();
00062     
00063 private:
00064     MyDigitalOut* _enable;
00065     MyPwmOut* _pwmUp;
00066     MyPwmOut* _pwmDown;
00067     MyInterruptIn* _encoder_A; //6 pulse per round
00068     MyDigitalIn* _encoder_B; //5v is up, 0v is down. looks like no use
00069     uint8_t _dir;
00070     uint8_t _stop; //0 means moving, 1 means stopped
00071 };
00072 
00073 #endif