mecha
Dependents: 2019NHK_A_manual_red 2019NHK_A_manual_red 2019NHK_A_manual_blue
Diff: towelest.h
- Revision:
- 3:63bb3e19c7eb
- Parent:
- 2:623fb33351af
- Child:
- 4:416d194973a3
diff -r 623fb33351af -r 63bb3e19c7eb towelest.h --- a/towelest.h Fri Sep 13 04:38:47 2019 +0000 +++ b/towelest.h Tue Sep 17 02:10:43 2019 +0000 @@ -11,23 +11,23 @@ class towelest { public: - towelest(); - void open(); - void close(); - void lift(); - void drop(); - void setPulse(int Loli); - void loop(); + 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[3]; - Serial serial; + ikarashiMDC **Motor; PID pid; - Thread thread; + DigitalIn LimitSW0; DigitalIn LimitSW1; DigitalIn LimitSW2; Timer timer; float compute; float time; - int Limit1,Limit2,Loli,loli; + int Loli,loli,address; }; #endif \ No newline at end of file