HU YANG
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AnalogOut-HelloWorld
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Fork of AnalogOut-HelloWorld by
mdeviceCtrl.cpp@5:e6536d2d5aba, 2016-10-10 (annotated)
- Committer:
- fewerhy
- Date:
- Mon Oct 10 20:40:05 2016 +0000
- Revision:
- 5:e6536d2d5aba
stable
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
fewerhy | 5:e6536d2d5aba | 1 | #include "mdeviceCtrl.h" |
fewerhy | 5:e6536d2d5aba | 2 | |
fewerhy | 5:e6536d2d5aba | 3 | mdeviceCtrl::mdeviceCtrl() |
fewerhy | 5:e6536d2d5aba | 4 | { |
fewerhy | 5:e6536d2d5aba | 5 | myDevice= new mdevice(); |
fewerhy | 5:e6536d2d5aba | 6 | needleStatus=0; |
fewerhy | 5:e6536d2d5aba | 7 | } |
fewerhy | 5:e6536d2d5aba | 8 | |
fewerhy | 5:e6536d2d5aba | 9 | void mdeviceCtrl::run() |
fewerhy | 5:e6536d2d5aba | 10 | { |
fewerhy | 5:e6536d2d5aba | 11 | myDevice->updateDeviceStatus(); |
fewerhy | 5:e6536d2d5aba | 12 | int tempB=myDevice->getButtonEdge(); |
fewerhy | 5:e6536d2d5aba | 13 | |
fewerhy | 5:e6536d2d5aba | 14 | int mp0=myDevice->getMotorPos0(); |
fewerhy | 5:e6536d2d5aba | 15 | int mp1=myDevice->getMotorPos1(); |
fewerhy | 5:e6536d2d5aba | 16 | |
fewerhy | 5:e6536d2d5aba | 17 | cout<< mp0 <<" "<< mp1<<endl; |
fewerhy | 5:e6536d2d5aba | 18 | if (tempB==1) |
fewerhy | 5:e6536d2d5aba | 19 | { |
fewerhy | 5:e6536d2d5aba | 20 | myDevice->runMotor0(0.2); |
fewerhy | 5:e6536d2d5aba | 21 | myDevice->runMotor1(-0.02); |
fewerhy | 5:e6536d2d5aba | 22 | } |
fewerhy | 5:e6536d2d5aba | 23 | else if (tempB==-1) |
fewerhy | 5:e6536d2d5aba | 24 | { |
fewerhy | 5:e6536d2d5aba | 25 | myDevice->runMotor0(0.0); |
fewerhy | 5:e6536d2d5aba | 26 | myDevice->runMotor1(0.0); |
fewerhy | 5:e6536d2d5aba | 27 | } |
fewerhy | 5:e6536d2d5aba | 28 | } |
fewerhy | 5:e6536d2d5aba | 29 | |
fewerhy | 5:e6536d2d5aba | 30 | bool mdeviceCtrl::inserNeedle( ) |
fewerhy | 5:e6536d2d5aba | 31 | { |
fewerhy | 5:e6536d2d5aba | 32 | myDevice->runMotor0(1.0); |
fewerhy | 5:e6536d2d5aba | 33 | int tempPos=myDevice->getMotorPos0(); |
fewerhy | 5:e6536d2d5aba | 34 | if (tempPos>200) |
fewerhy | 5:e6536d2d5aba | 35 | { |
fewerhy | 5:e6536d2d5aba | 36 | return true; |
fewerhy | 5:e6536d2d5aba | 37 | } |
fewerhy | 5:e6536d2d5aba | 38 | else |
fewerhy | 5:e6536d2d5aba | 39 | { |
fewerhy | 5:e6536d2d5aba | 40 | return false; |
fewerhy | 5:e6536d2d5aba | 41 | } |
fewerhy | 5:e6536d2d5aba | 42 | } |
fewerhy | 5:e6536d2d5aba | 43 | |
fewerhy | 5:e6536d2d5aba | 44 | bool mdeviceCtrl::retractNeedle( ) |
fewerhy | 5:e6536d2d5aba | 45 | { |
fewerhy | 5:e6536d2d5aba | 46 | myDevice->runMotor0(-1.0); |
fewerhy | 5:e6536d2d5aba | 47 | int tempPos=myDevice->getMotorPos0(); |
fewerhy | 5:e6536d2d5aba | 48 | if ( tempPos<10) |
fewerhy | 5:e6536d2d5aba | 49 | { |
fewerhy | 5:e6536d2d5aba | 50 | return true; |
fewerhy | 5:e6536d2d5aba | 51 | } |
fewerhy | 5:e6536d2d5aba | 52 | else |
fewerhy | 5:e6536d2d5aba | 53 | { |
fewerhy | 5:e6536d2d5aba | 54 | return false; |
fewerhy | 5:e6536d2d5aba | 55 | } |
fewerhy | 5:e6536d2d5aba | 56 | } |
fewerhy | 5:e6536d2d5aba | 57 | |
fewerhy | 5:e6536d2d5aba | 58 | bool mdeviceCtrl::switchNeedle1() |
fewerhy | 5:e6536d2d5aba | 59 | { |
fewerhy | 5:e6536d2d5aba | 60 | needleStatus++; |
fewerhy | 5:e6536d2d5aba | 61 | if (needleStatus%2==0) |
fewerhy | 5:e6536d2d5aba | 62 | { |
fewerhy | 5:e6536d2d5aba | 63 | myDevice->runMotor1(-0.2); |
fewerhy | 5:e6536d2d5aba | 64 | int tempPos=myDevice->getMotorPos1(); |
fewerhy | 5:e6536d2d5aba | 65 | if (tempPos>1) |
fewerhy | 5:e6536d2d5aba | 66 | { |
fewerhy | 5:e6536d2d5aba | 67 | return true; |
fewerhy | 5:e6536d2d5aba | 68 | } |
fewerhy | 5:e6536d2d5aba | 69 | else |
fewerhy | 5:e6536d2d5aba | 70 | { |
fewerhy | 5:e6536d2d5aba | 71 | return false; |
fewerhy | 5:e6536d2d5aba | 72 | } |
fewerhy | 5:e6536d2d5aba | 73 | } |
fewerhy | 5:e6536d2d5aba | 74 | else |
fewerhy | 5:e6536d2d5aba | 75 | { |
fewerhy | 5:e6536d2d5aba | 76 | myDevice->runMotor1(0.2); |
fewerhy | 5:e6536d2d5aba | 77 | int tempPos=myDevice->getMotorPos1(); |
fewerhy | 5:e6536d2d5aba | 78 | if (tempPos<0) |
fewerhy | 5:e6536d2d5aba | 79 | { |
fewerhy | 5:e6536d2d5aba | 80 | return true; |
fewerhy | 5:e6536d2d5aba | 81 | } |
fewerhy | 5:e6536d2d5aba | 82 | else |
fewerhy | 5:e6536d2d5aba | 83 | { |
fewerhy | 5:e6536d2d5aba | 84 | return false; |
fewerhy | 5:e6536d2d5aba | 85 | } |
fewerhy | 5:e6536d2d5aba | 86 | } |
fewerhy | 5:e6536d2d5aba | 87 | } |