![](/media/cache/img/default_profile.jpg.50x50_q85.jpg)
sampleProgram
Dependencies: QEI accelerator bit_test cyclic_io cyclic_var cylinder event_var limit mbed mecanum motor_drive pid pid_encoder rs422_put sbdbt servo
Fork of 17robo_fuzi by
varEvent.h@52:f5ae47e683fa, 2017-09-14 (annotated)
- Committer:
- echo_piyo
- Date:
- Thu Sep 14 11:56:51 2017 +0000
- Revision:
- 52:f5ae47e683fa
- Parent:
- 51:70d45b959d6b
(?)????????????????; ??????????????1????????????????????????????????????
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
echo_piyo | 51:70d45b959d6b | 1 | /****************************************************** |
echo_piyo | 51:70d45b959d6b | 2 | -Class [varEvent] |
echo_piyo | 51:70d45b959d6b | 3 | |
echo_piyo | 52:f5ae47e683fa | 4 | The [varEvent] is used to trigger an event when input data state changes. |
echo_piyo | 51:70d45b959d6b | 5 | |
echo_piyo | 51:70d45b959d6b | 6 | 目的: |
echo_piyo | 51:70d45b959d6b | 7 | 入力された状態の[立ち上がり],[立ち下がり]を検知する |
echo_piyo | 51:70d45b959d6b | 8 | [Rise(0->1)],[Fall(1->0)] |
echo_piyo | 51:70d45b959d6b | 9 | Sbdbt用として作成,流用可 |
echo_piyo | 51:70d45b959d6b | 10 | |
echo_piyo | 51:70d45b959d6b | 11 | 使い方: |
echo_piyo | 51:70d45b959d6b | 12 | Public Member Functions: |
echo_piyo | 51:70d45b959d6b | 13 | |
echo_piyo | 51:70d45b959d6b | 14 | varEvent <useName> //宣言 |
echo_piyo | 51:70d45b959d6b | 15 | .input((int)<inputData>) //(void)検出したい変数(Data)を引数に代入 |
echo_piyo | 51:70d45b959d6b | 16 | .getRise() //(int)立ち上がり検知 検出時は(int)1,それ以外は(int)0を返す |
echo_piyo | 51:70d45b959d6b | 17 | .getFall() //(int)立ち下がり検知 検出時は(int)1,それ以外は(int)0を返す |
echo_piyo | 51:70d45b959d6b | 18 | |
echo_piyo | 51:70d45b959d6b | 19 | ***************************************************************/ |
echo_piyo | 51:70d45b959d6b | 20 | |
echo_piyo | 50:e4e1f38d1bd5 | 21 | class varEvent { |
echo_piyo | 50:e4e1f38d1bd5 | 22 | public: |
echo_piyo | 50:e4e1f38d1bd5 | 23 | void input(int inputState) { |
echo_piyo | 50:e4e1f38d1bd5 | 24 | valState = ((valState<<1)|inputState)&3; |
echo_piyo | 50:e4e1f38d1bd5 | 25 | if(valState == 1) { |
echo_piyo | 50:e4e1f38d1bd5 | 26 | riseState = 1; |
echo_piyo | 50:e4e1f38d1bd5 | 27 | fallState = 0; |
echo_piyo | 50:e4e1f38d1bd5 | 28 | } else if(valState == 2){ |
echo_piyo | 50:e4e1f38d1bd5 | 29 | riseState = 0; |
echo_piyo | 50:e4e1f38d1bd5 | 30 | fallState = 1; |
echo_piyo | 50:e4e1f38d1bd5 | 31 | } else { |
echo_piyo | 50:e4e1f38d1bd5 | 32 | riseState = 0; |
echo_piyo | 50:e4e1f38d1bd5 | 33 | fallState = 0; |
echo_piyo | 50:e4e1f38d1bd5 | 34 | } |
echo_piyo | 50:e4e1f38d1bd5 | 35 | } |
echo_piyo | 50:e4e1f38d1bd5 | 36 | |
echo_piyo | 51:70d45b959d6b | 37 | int getRise(){ |
echo_piyo | 50:e4e1f38d1bd5 | 38 | return riseState; |
echo_piyo | 50:e4e1f38d1bd5 | 39 | } |
echo_piyo | 50:e4e1f38d1bd5 | 40 | |
echo_piyo | 51:70d45b959d6b | 41 | int getFall(){ |
echo_piyo | 50:e4e1f38d1bd5 | 42 | return fallState; |
echo_piyo | 50:e4e1f38d1bd5 | 43 | } |
echo_piyo | 50:e4e1f38d1bd5 | 44 | |
echo_piyo | 50:e4e1f38d1bd5 | 45 | private: |
echo_piyo | 50:e4e1f38d1bd5 | 46 | int inputState, valState; |
echo_piyo | 50:e4e1f38d1bd5 | 47 | int riseState, fallState; |
echo_piyo | 50:e4e1f38d1bd5 | 48 | }; |