Diff: mdeviceCtrl.cpp

Revision:

5:e6536d2d5aba

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mdeviceCtrl.cpp	Mon Oct 10 20:40:05 2016 +0000
@@ -0,0 +1,87 @@
+#include "mdeviceCtrl.h"
+
+mdeviceCtrl::mdeviceCtrl()
+{
+    myDevice= new mdevice();
+    needleStatus=0;
+}
+
+void mdeviceCtrl::run()
+{
+    myDevice->updateDeviceStatus();
+    int tempB=myDevice->getButtonEdge();
+    
+    int mp0=myDevice->getMotorPos0();
+    int mp1=myDevice->getMotorPos1();
+    
+    cout<< mp0 <<"    "<< mp1<<endl;
+    if (tempB==1)
+    {
+       myDevice->runMotor0(0.2); 
+       myDevice->runMotor1(-0.02); 
+    }
+    else if (tempB==-1)
+    {
+       myDevice->runMotor0(0.0); 
+       myDevice->runMotor1(0.0); 
+    } 
+}
+
+bool mdeviceCtrl::inserNeedle( )
+{
+    myDevice->runMotor0(1.0);
+    int tempPos=myDevice->getMotorPos0();
+    if (tempPos>200)
+    {
+        return true;
+    }
+    else
+    {
+        return false;
+    }
+}
+
+bool mdeviceCtrl::retractNeedle( )
+{
+    myDevice->runMotor0(-1.0);
+    int tempPos=myDevice->getMotorPos0();
+    if ( tempPos<10)
+    {
+        return true;
+    }
+    else
+    {
+        return false;
+    }
+}
+
+bool mdeviceCtrl::switchNeedle1()
+{
+   needleStatus++;
+   if (needleStatus%2==0)
+   {
+       myDevice->runMotor1(-0.2);
+       int tempPos=myDevice->getMotorPos1();
+       if (tempPos>1)
+       {
+           return true;
+       }
+       else
+       {
+           return false;
+      }
+   }
+   else
+   {
+       myDevice->runMotor1(0.2);
+       int tempPos=myDevice->getMotorPos1();
+       if (tempPos<0)
+       {
+           return true;
+       }
+       else
+       {
+           return false;
+       }
+   }
+}