mecha
Dependents: 2019NHK_A_manual_red 2019NHK_A_manual_red 2019NHK_A_manual_blue
towelest.h@3:63bb3e19c7eb, 2019-09-17 (annotated)
- Committer:
- ec30109b
- Date:
- Tue Sep 17 02:10:43 2019 +0000
- Revision:
- 3:63bb3e19c7eb
- Parent:
- 2:623fb33351af
- Child:
- 4:416d194973a3
New towelest
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 | 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 | 3:63bb3e19c7eb | 19 | void drop(); //タオルをかける |
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 | 0:0797b0e47e6d | 22 | private: |
ec30109b | 3:63bb3e19c7eb | 23 | ikarashiMDC **Motor; |
ec30109b | 0:0797b0e47e6d | 24 | PID pid; |
ec30109b | 3:63bb3e19c7eb | 25 | DigitalIn LimitSW0; |
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 | 3:63bb3e19c7eb | 31 | int Loli,loli,address; |
ec30109b | 0:0797b0e47e6d | 32 | }; |
ec30109b | 0:0797b0e47e6d | 33 | #endif |