Soma Takahashi / towelest

mecha

Dependents:   2019NHK_A_manual_red 2019NHK_A_manual_red 2019NHK_A_manual_blue

Diff: towelest.cpp

Revision:
4:416d194973a3
Parent:
3:63bb3e19c7eb
Child:
5:1d0e66198bb4
--- a/towelest.cpp	Tue Sep 17 02:10:43 2019 +0000
+++ b/towelest.cpp	Tue Sep 17 02:27:27 2019 +0000
@@ -61,17 +61,9 @@
     }
 }
 
-void towelest::drop()
+void towelest::setPoint(int target)
 {
-    timer.start();
-    time = timer.read();
-    if(time <= 5) {
-        pid.setSetPoint(-800);
-    } else {
-        pid.setSetPoint(0);
-        timer.stop();
-        timer.reset();
-    }
+    pid.setSetPoint(target);
 }
 
 void towelest::setPulse(int Loli)
@@ -87,4 +79,10 @@
         //pc.printf("%d  %d  %f \n\r",Limit1,Limit2,Limit3,RotationDistance);
 }
 
+void towelest::allstop()
+{
+    Motor[0]->setSpeed(0);
+    Motor[1]->setSpeed(0);
+    Motor[2]->setSpeed(0);
+}