Soma Takahashi
mecha
Dependents: 2019NHK_A_manual_red 2019NHK_A_manual_red 2019NHK_A_manual_blue
Diff: towelest.h
- Revision:
- 0:0797b0e47e6d
- Child:
- 1:c6950f45b03c
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/towelest.h Thu Aug 29 05:14:22 2019 +0000
@@ -0,0 +1,33 @@
+#ifndef TOWELEST_H
+#define TOWELEST_H
+
+#include "mbed.h"
+#include "ikarashiMDC.h"
+#include "PID.h"
+#include "QEI.h"
+
+const int RS485_BAUD = 115200;
+
+class towelest
+{
+public:
+ towelest(Serial* RS485);
+ void open();
+ void lift();
+ void drop();
+ void loop();
+private:
+ float RotationDistance;
+ ikarashiMDC **Motor;
+ QEI enc1;
+ PID pid;
+ Serial pc;
+ Thread thread;
+ DigitalIn LimitSW1;
+ DigitalIn LimitSW2;
+ Timer timer;
+ float compute;
+ float time;
+ int Limit1,Limit2;
+};
+#endif
\ No newline at end of file