Soma Takahashi / towelest

mecha

Dependents:   2019NHK_A_manual_red 2019NHK_A_manual_red 2019NHK_A_manual_blue

towelest.h@0:0797b0e47e6d, 2019-08-29 (annotated)

Committer:
ec30109b
Date:
Thu Aug 29 05:14:22 2019 +0000
Revision:
0:0797b0e47e6d
Child:
1:c6950f45b03c
2019NHK_teamA_auto robot

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ec30109b 0:0797b0e47e6d 1 #ifndef TOWELEST_H
ec30109b 0:0797b0e47e6d 2 #define TOWELEST_H
ec30109b 0:0797b0e47e6d 3
ec30109b 0:0797b0e47e6d 4 #include "mbed.h"
ec30109b 0:0797b0e47e6d 5 #include "ikarashiMDC.h"
ec30109b 0:0797b0e47e6d 6 #include "PID.h"
ec30109b 0:0797b0e47e6d 7 #include "QEI.h"
ec30109b 0:0797b0e47e6d 8
ec30109b 0:0797b0e47e6d 9 const int RS485_BAUD = 115200;
ec30109b 0:0797b0e47e6d 10
ec30109b 0:0797b0e47e6d 11 class towelest
ec30109b 0:0797b0e47e6d 12 {
ec30109b 0:0797b0e47e6d 13 public:
ec30109b 0:0797b0e47e6d 14 towelest(Serial* RS485);
ec30109b 0:0797b0e47e6d 15 void open();
ec30109b 0:0797b0e47e6d 16 void lift();
ec30109b 0:0797b0e47e6d 17 void drop();
ec30109b 0:0797b0e47e6d 18 void loop();
ec30109b 0:0797b0e47e6d 19 private:
ec30109b 0:0797b0e47e6d 20 float RotationDistance;
ec30109b 0:0797b0e47e6d 21 ikarashiMDC **Motor;
ec30109b 0:0797b0e47e6d 22 QEI enc1;
ec30109b 0:0797b0e47e6d 23 PID pid;
ec30109b 0:0797b0e47e6d 24 Serial pc;
ec30109b 0:0797b0e47e6d 25 Thread thread;
ec30109b 0:0797b0e47e6d 26 DigitalIn LimitSW1;
ec30109b 0:0797b0e47e6d 27 DigitalIn LimitSW2;
ec30109b 0:0797b0e47e6d 28 Timer timer;
ec30109b 0:0797b0e47e6d 29 float compute;
ec30109b 0:0797b0e47e6d 30 float time;
ec30109b 0:0797b0e47e6d 31 int Limit1,Limit2;
ec30109b 0:0797b0e47e6d 32 };
ec30109b 0:0797b0e47e6d 33 #endif