Soma Takahashi / towelest

mecha

Dependents:   2019NHK_A_manual_red 2019NHK_A_manual_red 2019NHK_A_manual_blue

towelest.h@2:623fb33351af, 2019-09-13 (annotated)

Committer:
ec30109b
Date:
Fri Sep 13 04:38:47 2019 +0000
Revision:
2:623fb33351af
Parent:
1:c6950f45b03c
Child:
3:63bb3e19c7eb
add setPulse

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 1:c6950f45b03c 14 towelest();
ec30109b 0:0797b0e47e6d 15 void open();
ec30109b 2:623fb33351af 16 void close();
ec30109b 0:0797b0e47e6d 17 void lift();
ec30109b 0:0797b0e47e6d 18 void drop();
ec30109b 2:623fb33351af 19 void setPulse(int Loli);
ec30109b 0:0797b0e47e6d 20 void loop();
ec30109b 0:0797b0e47e6d 21 private:
ec30109b 1:c6950f45b03c 22 ikarashiMDC *Motor[3];
ec30109b 1:c6950f45b03c 23 Serial serial;
ec30109b 0:0797b0e47e6d 24 PID pid;
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 2:623fb33351af 31 int Limit1,Limit2,Loli,loli;
ec30109b 0:0797b0e47e6d 32 };
ec30109b 0:0797b0e47e6d 33 #endif