Soma Takahashi / towelest

mecha

Dependents:   2019NHK_A_manual_red 2019NHK_A_manual_red 2019NHK_A_manual_blue

towelest.h

Committer:
ec30109b
Date:
2019-09-04
Revision:
1:c6950f45b03c
Parent:
0:0797b0e47e6d
Child:
2:623fb33351af

File content as of revision 1:c6950f45b03c:

#ifndef TOWELEST_H
#define TOWELEST_H

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

const int RS485_BAUD = 115200;

class towelest 
{
public:
    towelest(); 
    void open();
    void lift();
    void drop();
    void loop();
private:
    float RotationDistance;
    ikarashiMDC *Motor[3];
    Serial serial;
    QEI enc1;
    PID pid;
    Thread thread;
    DigitalIn LimitSW1;
    DigitalIn LimitSW2;
    Timer timer;
    float compute;
    float time;
    int Limit1,Limit2;
};
#endif