ChargingControl.h

00001 #ifndef ZETA_STM_KINETIC_CHARGINGCONTROL_H_
00002 #define ZETA_STM_KINETIC_CHARGINGCONTROL_H_
00003 #include "mbed.h"
00004 #define SSR_OFF 1
00005 #define SSR_ON  0
00006 
00007 #include <ros.h>
00008 extern ros::NodeHandle nh;
00009 
00010 class ChargingControl {
00011     public:
00012         ChargingControl(PinName pinP, PinName pinN) : _pinP(pinP,SSR_OFF), _pinN(pinN,SSR_OFF) {}
00013         void on()
00014         {
00015             if(_pinN == SSR_OFF)
00016             {
00017                 //nh.loginfo("ssr on");
00018                 _pinN = SSR_ON;
00019                 //ThisThread::sleep_for(100);
00020                 _pinP = SSR_ON;
00021             }
00022         }
00023         void off()
00024         {
00025             if(_pinP == SSR_ON)
00026             {
00027                 //nh.loginfo("ssr off");
00028                 _pinP = SSR_OFF;
00029                 //ThisThread::sleep_for(100);
00030                 _pinN = SSR_OFF;
00031             }
00032         }
00033     private:
00034         void init();
00035         DigitalOut _pinP;
00036         DigitalOut _pinN;
00037 };
00038 
00039 #endif /* ZETA_STM_KINETIC_CHARGINGCONTROL_H_ */