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Dependents: 2019NHK_A_manual_red 2019NHK_A_manual_red 2019NHK_A_manual_blue
towelest.h@1:c6950f45b03c, 2019-09-04 (annotated)
- Committer:
- ec30109b
- Date:
- Wed Sep 04 05:14:18 2019 +0000
- Revision:
- 1:c6950f45b03c
- Parent:
- 0:0797b0e47e6d
- Child:
- 2:623fb33351af
This is new.
Who changed what in which revision?
User | Revision | Line number | New 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 | 1:c6950f45b03c | 8 | #include "pinconfig_main.h" |
ec30109b | 0:0797b0e47e6d | 9 | |
ec30109b | 0:0797b0e47e6d | 10 | const int RS485_BAUD = 115200; |
ec30109b | 0:0797b0e47e6d | 11 | |
ec30109b | 1:c6950f45b03c | 12 | class towelest |
ec30109b | 0:0797b0e47e6d | 13 | { |
ec30109b | 0:0797b0e47e6d | 14 | public: |
ec30109b | 1:c6950f45b03c | 15 | towelest(); |
ec30109b | 0:0797b0e47e6d | 16 | void open(); |
ec30109b | 0:0797b0e47e6d | 17 | void lift(); |
ec30109b | 0:0797b0e47e6d | 18 | void drop(); |
ec30109b | 0:0797b0e47e6d | 19 | void loop(); |
ec30109b | 0:0797b0e47e6d | 20 | private: |
ec30109b | 0:0797b0e47e6d | 21 | float RotationDistance; |
ec30109b | 1:c6950f45b03c | 22 | ikarashiMDC *Motor[3]; |
ec30109b | 1:c6950f45b03c | 23 | Serial serial; |
ec30109b | 0:0797b0e47e6d | 24 | QEI enc1; |
ec30109b | 0:0797b0e47e6d | 25 | PID pid; |
ec30109b | 0:0797b0e47e6d | 26 | Thread thread; |
ec30109b | 0:0797b0e47e6d | 27 | DigitalIn LimitSW1; |
ec30109b | 0:0797b0e47e6d | 28 | DigitalIn LimitSW2; |
ec30109b | 0:0797b0e47e6d | 29 | Timer timer; |
ec30109b | 0:0797b0e47e6d | 30 | float compute; |
ec30109b | 0:0797b0e47e6d | 31 | float time; |
ec30109b | 0:0797b0e47e6d | 32 | int Limit1,Limit2; |
ec30109b | 0:0797b0e47e6d | 33 | }; |
ec30109b | 0:0797b0e47e6d | 34 | #endif |