Diff: mdevice.cpp

Revision:

5:e6536d2d5aba

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mdevice.cpp	Mon Oct 10 20:40:05 2016 +0000
@@ -0,0 +1,144 @@
+#include "mdevice.h"
+
+mdevice::mdevice()
+{
+    mSpeedPort0.period(0.00002857142f);
+    mSpeedPort1.period(0.00002857142f);   
+    mIndexSig0=true;
+    mIndexSig1=true;
+    mPos0=0;
+    mPos1=0;
+    mDir0=1;
+    mDir1=1;
+    mButton=0;
+    mPreButton=0;
+    mButtonEdge=0;
+}
+
+void mdevice::updateButton()
+{
+    if (buttonPort>0.3f)
+    {
+        mButton=1;
+    }
+    else
+    {
+        mButton=0;
+    }
+    
+    //detect up edge
+    if (mPreButton==0&& mButton==1)
+    {
+        mButtonEdge=1;
+    }  
+    //detect down edge
+    else if (mPreButton==1&& mButton==0)
+    {
+        mButtonEdge=-1;
+    }
+    else
+    {
+        mButtonEdge=0;
+    }     
+    mPreButton=mButton;
+}
+
+void mdevice::runMotor0(float s)
+{
+    if (s>0.001)
+    {
+        mDir0=1;
+        mDirPort0=1;
+        mSpeedPort0.write(s);
+    }
+    else if (s<-0.001)
+    {
+        mDir0=-1;
+        mDirPort0=0;
+        mSpeedPort0.write(-s);
+    }
+    else
+    {
+        mSpeedPort0.write(0.0f);
+    }
+}
+
+void mdevice::runMotor1(float s)
+{
+    if (s>0.001)
+    {
+        mDir1=1;
+        mDirPort1=1;
+        mSpeedPort1.write(s);
+    }
+    else if (s<-0.001)
+    {
+        mDir1=-1;
+        mDirPort1=0;
+        mSpeedPort1.write(-s);
+    }
+    else
+    {
+        mSpeedPort1.write(0.0f);
+    }
+}
+
+void mdevice::updateEncoder0()
+{
+    if (encoderPort0<0.3f )
+    {
+        if (mIndexSig0==true)
+        {
+            mIndexSig0=false;
+            mPos0=mPos0+mDir0;
+        }
+    }
+    else
+    {
+       mIndexSig0=true;
+    }
+}
+
+void mdevice::updateEncoder1()
+{
+    if (encoderPort1<0.3f )
+    {
+        if (mIndexSig1==true)
+        {
+            mIndexSig1=false;
+            mPos1=mPos1+mDir1;
+        }
+    }
+    else
+    {
+       mIndexSig1=true;
+    }
+}
+
+void mdevice::updateDeviceStatus()
+{
+    updateEncoder0();
+    updateEncoder1();
+    updateButton();
+}
+
+int mdevice::getButton()
+{
+    return mButton;
+}
+
+int mdevice::getMotorPos0()
+{
+    return mPos0;
+}
+
+int mdevice::getMotorPos1()
+{
+    return mPos1;
+}
+
+int mdevice::getButtonEdge()
+{
+    return mButtonEdge;
+}
+