mecha
Dependents: 2019NHK_A_manual_red 2019NHK_A_manual_red 2019NHK_A_manual_blue
Diff: towelest.h
- Revision:
- 0:0797b0e47e6d
- Child:
- 1:c6950f45b03c
diff -r 000000000000 -r 0797b0e47e6d towelest.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/towelest.h Thu Aug 29 05:14:22 2019 +0000 @@ -0,0 +1,33 @@ +#ifndef TOWELEST_H +#define TOWELEST_H + +#include "mbed.h" +#include "ikarashiMDC.h" +#include "PID.h" +#include "QEI.h" + +const int RS485_BAUD = 115200; + +class towelest +{ +public: + towelest(Serial* RS485); + void open(); + void lift(); + void drop(); + void loop(); +private: + float RotationDistance; + ikarashiMDC **Motor; + QEI enc1; + PID pid; + Serial pc; + Thread thread; + DigitalIn LimitSW1; + DigitalIn LimitSW2; + Timer timer; + float compute; + float time; + int Limit1,Limit2; +}; +#endif \ No newline at end of file