mecha
Dependents: 2019NHK_A_manual_red 2019NHK_A_manual_red 2019NHK_A_manual_blue
towelest.h@0:0797b0e47e6d, 2019-08-29 (annotated)
- Committer:
- ec30109b
- Date:
- Thu Aug 29 05:14:22 2019 +0000
- Revision:
- 0:0797b0e47e6d
- Child:
- 1:c6950f45b03c
2019NHK_teamA_auto robot
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
ec30109b | 0:0797b0e47e6d | 1 | #ifndef TOWELEST_H |
ec30109b | 0:0797b0e47e6d | 2 | #define TOWELEST_H |
ec30109b | 0:0797b0e47e6d | 3 | |
ec30109b | 0:0797b0e47e6d | 4 | #include "mbed.h" |
ec30109b | 0:0797b0e47e6d | 5 | #include "ikarashiMDC.h" |
ec30109b | 0:0797b0e47e6d | 6 | #include "PID.h" |
ec30109b | 0:0797b0e47e6d | 7 | #include "QEI.h" |
ec30109b | 0:0797b0e47e6d | 8 | |
ec30109b | 0:0797b0e47e6d | 9 | const int RS485_BAUD = 115200; |
ec30109b | 0:0797b0e47e6d | 10 | |
ec30109b | 0:0797b0e47e6d | 11 | class towelest |
ec30109b | 0:0797b0e47e6d | 12 | { |
ec30109b | 0:0797b0e47e6d | 13 | public: |
ec30109b | 0:0797b0e47e6d | 14 | towelest(Serial* RS485); |
ec30109b | 0:0797b0e47e6d | 15 | void open(); |
ec30109b | 0:0797b0e47e6d | 16 | void lift(); |
ec30109b | 0:0797b0e47e6d | 17 | void drop(); |
ec30109b | 0:0797b0e47e6d | 18 | void loop(); |
ec30109b | 0:0797b0e47e6d | 19 | private: |
ec30109b | 0:0797b0e47e6d | 20 | float RotationDistance; |
ec30109b | 0:0797b0e47e6d | 21 | ikarashiMDC **Motor; |
ec30109b | 0:0797b0e47e6d | 22 | QEI enc1; |
ec30109b | 0:0797b0e47e6d | 23 | PID pid; |
ec30109b | 0:0797b0e47e6d | 24 | Serial pc; |
ec30109b | 0:0797b0e47e6d | 25 | Thread thread; |
ec30109b | 0:0797b0e47e6d | 26 | DigitalIn LimitSW1; |
ec30109b | 0:0797b0e47e6d | 27 | DigitalIn LimitSW2; |
ec30109b | 0:0797b0e47e6d | 28 | Timer timer; |
ec30109b | 0:0797b0e47e6d | 29 | float compute; |
ec30109b | 0:0797b0e47e6d | 30 | float time; |
ec30109b | 0:0797b0e47e6d | 31 | int Limit1,Limit2; |
ec30109b | 0:0797b0e47e6d | 32 | }; |
ec30109b | 0:0797b0e47e6d | 33 | #endif |