Diff: linearActuatorControl.h

Revision:

0:1a5f4c492b1a

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/linearActuatorControl.h	Sun Feb 23 05:55:59 2020 +0000
@@ -0,0 +1,45 @@
+#ifndef LINEAR_ACTUATOR_CONTROL_H
+#define LINEAR_ACTUATOR_CONTROL_H
+
+#include "mbed.h"
+
+class LinearActuatorControl {
+    private:
+        DigitalIn _controlMode;
+        DigitalIn _runMode;
+        
+        PwmOut _linAct1;
+        PwmOut _linAct2;
+        PwmOut _linAct3;
+        PwmOut _linAct4;
+
+        DigitalIn _actBtn1;
+        DigitalIn _actBtn2;
+        DigitalIn _actBtn3;
+        DigitalIn _actBtn4;
+
+        float _idlePositions[4];        //stores values of idle positions, deafult all 0, user defined with setIdlePositions
+        float _actPositions[4];         //stores current positions of the actuators, updated by move()
+        float _manualPositionsDown[4];  //positions of actuators when switch is down
+        float _manualPositionsUp[4];    //positions of actuators when switch is up
+        
+        float _convertToPulseWidth_us(float);   //takes in value from 0 to 1 for actuator extention percentage, and converts this to the appropriate pulse width in us
+    public:
+        LinearActuatorControl();
+
+        //user function to command actuators to move, takes any float value from 0 to 1 for the percent extension of the actuator (0.45 = 45% extended)
+        //changes _actPositions array
+        void move(float pos1, float pos2, float pos3, float pos4);
+
+        //similar to move, but sets the idle positions for the actuators
+        void setIdlePositions(float pos1, float pos2, float pos3, float pos4);
+        void setManualPositionsDown(float pos1, float pos2, float pos3, float pos4);
+        void setManualPositionsUp(float pos1, float pos2, float pos3, float pos4);
+
+        //used to check the state of the machine, will return true if in auto+run mode
+        bool inUserSequence();
+
+        void refresh();     //should be called refresh or update?
+};
+
+#endif
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