Soma Takahashi / towelest

mecha

Dependents:   2019NHK_A_manual_red 2019NHK_A_manual_red 2019NHK_A_manual_blue

towelest.h@4:416d194973a3, 2019-09-17 (annotated)

Committer:
ec30109b
Date:
Tue Sep 17 02:27:27 2019 +0000
Revision:
4:416d194973a3
Parent:
3:63bb3e19c7eb
Child:
6:9f932b9adee5
New towelest

Who changed what in which revision?

UserRevisionLine numberNew 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 1:c6950f45b03c 7 #include "pinconfig_main.h"
ec30109b 0:0797b0e47e6d 8
ec30109b 0:0797b0e47e6d 9 const int RS485_BAUD = 115200;
ec30109b 0:0797b0e47e6d 10
ec30109b 1:c6950f45b03c 11 class towelest
ec30109b 0:0797b0e47e6d 12 {
ec30109b 0:0797b0e47e6d 13 public:
ec30109b 3:63bb3e19c7eb 14 towelest(Serial* RS485,int address,PinName Limit0,PinName Limit1,PinName Limit2);
ec30109b 3:63bb3e19c7eb 15 void open(); //展開
ec30109b 3:63bb3e19c7eb 16 void close(); //!展開
ec30109b 3:63bb3e19c7eb 17 void lift(); //機構昇降
ec30109b 3:63bb3e19c7eb 18 void descent(); //機構降下
ec30109b 4:416d194973a3 19 void setPoint(int target); //pid目標値
ec30109b 3:63bb3e19c7eb 20 void setPulse(int Loli); //毎ループで呼び出し
ec30109b 3:63bb3e19c7eb 21 void pid_compute(); //毎ループで呼び出し
ec30109b 4:416d194973a3 22 void allstop();
ec30109b 0:0797b0e47e6d 23 private:
ec30109b 3:63bb3e19c7eb 24 ikarashiMDC **Motor;
ec30109b 0:0797b0e47e6d 25 PID pid;
ec30109b 3:63bb3e19c7eb 26 DigitalIn LimitSW0;
ec30109b 0:0797b0e47e6d 27 DigitalIn LimitSW1;
ec30109b 0:0797b0e47e6d 28 DigitalIn LimitSW2;
ec30109b 0:0797b0e47e6d 29 Timer timer;
ec30109b 0:0797b0e47e6d 30 float compute;
ec30109b 0:0797b0e47e6d 31 float time;
ec30109b 4:416d194973a3 32 int Loli,loli,addres,target;
ec30109b 0:0797b0e47e6d 33 };
ec30109b 0:0797b0e47e6d 34 #endif