Soma Takahashi / towelest

mecha

Dependents:   2019NHK_A_manual_red 2019NHK_A_manual_red 2019NHK_A_manual_blue

towelest.h@1:c6950f45b03c, 2019-09-04 (annotated)

Committer:
ec30109b
Date:
Wed Sep 04 05:14:18 2019 +0000
Revision:
1:c6950f45b03c
Parent:
0:0797b0e47e6d
Child:
2:623fb33351af
This is new.

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 0:0797b0e47e6d 7 #include "QEI.h"
ec30109b 1:c6950f45b03c 8 #include "pinconfig_main.h"
ec30109b 0:0797b0e47e6d 9
ec30109b 0:0797b0e47e6d 10 const int RS485_BAUD = 115200;
ec30109b 0:0797b0e47e6d 11
ec30109b 1:c6950f45b03c 12 class towelest
ec30109b 0:0797b0e47e6d 13 {
ec30109b 0:0797b0e47e6d 14 public:
ec30109b 1:c6950f45b03c 15 towelest();
ec30109b 0:0797b0e47e6d 16 void open();
ec30109b 0:0797b0e47e6d 17 void lift();
ec30109b 0:0797b0e47e6d 18 void drop();
ec30109b 0:0797b0e47e6d 19 void loop();
ec30109b 0:0797b0e47e6d 20 private:
ec30109b 0:0797b0e47e6d 21 float RotationDistance;
ec30109b 1:c6950f45b03c 22 ikarashiMDC *Motor[3];
ec30109b 1:c6950f45b03c 23 Serial serial;
ec30109b 0:0797b0e47e6d 24 QEI enc1;
ec30109b 0:0797b0e47e6d 25 PID pid;
ec30109b 0:0797b0e47e6d 26 Thread thread;
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 0:0797b0e47e6d 32 int Limit1,Limit2;
ec30109b 0:0797b0e47e6d 33 };
ec30109b 0:0797b0e47e6d 34 #endif