File content as of revision 5:e6536d2d5aba:

#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;
       }
   }
}