mecha
Dependents: 2019NHK_A_manual_red 2019NHK_A_manual_red 2019NHK_A_manual_blue
towelest.h
- Committer:
- ec30109b
- Date:
- 2019-09-17
- Revision:
- 3:63bb3e19c7eb
- Parent:
- 2:623fb33351af
- Child:
- 4:416d194973a3
File content as of revision 3:63bb3e19c7eb:
#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 drop(); //タオルをかける 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 private: ikarashiMDC **Motor; PID pid; DigitalIn LimitSW0; DigitalIn LimitSW1; DigitalIn LimitSW2; Timer timer; float compute; float time; int Loli,loli,address; }; #endif