semin ahn
/
zeta_stm_kinetic
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Diff: Module/ChargingControl.h
- Revision:
- 3:a4677501ae87
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Module/ChargingControl.h Tue Nov 30 08:13:05 2021 +0000
@@ -0,0 +1,39 @@
+#ifndef ZETA_STM_KINETIC_CHARGINGCONTROL_H_
+#define ZETA_STM_KINETIC_CHARGINGCONTROL_H_
+#include "mbed.h"
+#define SSR_OFF 1
+#define SSR_ON 0
+
+#include <ros.h>
+extern ros::NodeHandle nh;
+
+class ChargingControl {
+ public:
+ ChargingControl(PinName pinP, PinName pinN) : _pinP(pinP,SSR_OFF), _pinN(pinN,SSR_OFF) {}
+ void on()
+ {
+ if(_pinN == SSR_OFF)
+ {
+ //nh.loginfo("ssr on");
+ _pinN = SSR_ON;
+ //ThisThread::sleep_for(100);
+ _pinP = SSR_ON;
+ }
+ }
+ void off()
+ {
+ if(_pinP == SSR_ON)
+ {
+ //nh.loginfo("ssr off");
+ _pinP = SSR_OFF;
+ //ThisThread::sleep_for(100);
+ _pinN = SSR_OFF;
+ }
+ }
+ private:
+ void init();
+ DigitalOut _pinP;
+ DigitalOut _pinN;
+};
+
+#endif /* ZETA_STM_KINETIC_CHARGINGCONTROL_H_ */
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