Soma Takahashi / towelest

mecha

Dependents:   2019NHK_A_manual_red 2019NHK_A_manual_red 2019NHK_A_manual_blue

towelest.h

Committer:
ec30109b
Date:
2019-08-29
Revision:
0:0797b0e47e6d
Child:
1:c6950f45b03c

File content as of revision 0:0797b0e47e6d:

#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