mecha
Dependents: 2019NHK_A_manual_red 2019NHK_A_manual_red 2019NHK_A_manual_blue
towelest.h
00001 #ifndef TOWELEST_H 00002 #define TOWELEST_H 00003 00004 #include "mbed.h" 00005 #include "ikarashiMDC.h" 00006 #include "PID.h" 00007 #include "pinconfig_main.h" 00008 00009 const int RS485_BAUD = 115200; 00010 00011 class towelest 00012 { 00013 public: 00014 towelest(Serial* RS485,int address,PinName Limit0); 00015 void open(); //展開 00016 void close(); //!展開 00017 void setPoint(int target); //pid目標値 00018 void setPulse(int Loli); //毎ループで呼び出し 00019 void pid_compute(); //毎ループで呼び出し 00020 void allstop(); 00021 private: 00022 ikarashiMDC **Motor; 00023 PID pid; 00024 DigitalIn LimitSW0; 00025 Timer timer; 00026 float compute; 00027 float time; 00028 int Loli,loli,addres,target; 00029 }; 00030 #endif
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