Soma Takahashi / towelest

mecha

Dependents:   2019NHK_A_manual_red 2019NHK_A_manual_red 2019NHK_A_manual_blue

towelest.h

Committer:
ec30109b
Date:
2019-09-17
Revision:
4:416d194973a3
Parent:
3:63bb3e19c7eb
Child:
6:9f932b9adee5

File content as of revision 4:416d194973a3:

#ifndef TOWELEST_H
#define TOWELEST_H

#include "mbed.h"
#include "ikarashiMDC.h"
#include "PID.h"
#include "pinconfig_main.h"

const int RS485_BAUD = 115200;

class towelest 
{
public:
    towelest(Serial* RS485,int address,PinName Limit0,PinName Limit1,PinName Limit2); 
    void open();                 //展開
    void close();                //!展開
    void lift();                 //機構昇降
    void descent();              //機構降下
    void setPoint(int target);   //pid目標値
    void setPulse(int Loli);     //毎ループで呼び出し
    void pid_compute();          //毎ループで呼び出し
    void allstop();
private:
    ikarashiMDC **Motor;
    PID pid;
    DigitalIn LimitSW0;
    DigitalIn LimitSW1;
    DigitalIn LimitSW2;
    Timer timer;
    float compute;
    float time;
    int Loli,loli,addres,target;
};
#endif