Diff: AmmoPusher.cpp

Revision:

2:5ec2a3097d4c

Parent:

1:42d2772575c5

diff -r 42d2772575c5 -r 5ec2a3097d4c AmmoPusher.cpp
--- a/AmmoPusher.cpp	Fri Aug 21 04:52:43 2015 +0000
+++ b/AmmoPusher.cpp	Wed Oct 14 03:52:34 2015 +0000
@@ -1,55 +1,21 @@
 #include "AmmoPusher.h"
 #include "mbed.h"
 #include "I2CMotor.h"
-
-const float AmmoPusher::mDuty = 0.8f;
-const PinName AmmoPusher::mDrawingLimitSwitchPinName = D7;
-const PinName AmmoPusher::mPushingLimitSwitchPinName = D6;
+#include "I2CDevice.h"
 
-AmmoPusher::AmmoPusher( I2CMotor* drawerMotor ){
-    mDrawerMotor = drawerMotor;
-    mDrawerMotor->setDuty( mDuty );
-    mDrawingLimitSwitch = new DigitalIn( mDrawingLimitSwitchPinName );
-    mPushingLimitSwitch = new DigitalIn( mPushingLimitSwitchPinName );
-}
-
-void AmmoPusher::update(){
-    // スイッチが押されたらブレーキ
-    if ( mDrawingLimitSwitch->read() || mPushingLimitSwitch->read() ){
-        mDrawerMotor->setActionType( I2CMotor::BRAKE );
-    }
+AmmoPusher::AmmoPusher( char address ) : I2CDevice( address ){
+    mState      = BETWEEN;
+    mActionType = NO_OPERATION;
 }
 
-void AmmoPusher::draw(){
-    // スイッチが押されたらブレーキ
-    if ( mDrawingLimitSwitch->read() || mPushingLimitSwitch->read() ){
-        mDrawerMotor->setActionType( I2CMotor::BRAKE );
-    } else {
-        mDrawerMotor->setActionType( I2CMotor::REVERSE );
-    }
+int AmmoPusher::write(){
+    char buf = mActionType;
+    return I2CDevice::write( &buf, 1 );
 }
 
-void AmmoPusher::push(){
-    // スイッチが押されたらブレーキ
-    if ( mDrawingLimitSwitch->read() || mPushingLimitSwitch->read() ){
-        mDrawerMotor->setActionType( I2CMotor::BRAKE );
-    } else {
-        mDrawerMotor->setActionType( I2CMotor::FORWARD );
-    }
+int AmmoPusher::read(){
+    char buf;
+    int val = I2CDevice::read( &buf, 1 );
+    mState = static_cast< State >( buf );
+    return val;
 }
-
-bool AmmoPusher::hasPusherFinishedPushing(){
-    if ( mPushingLimitSwitch->read() ){
-        mDrawerMotor->setActionType( I2CMotor::BRAKE );
-        return true;
-    }
-    return false;
-}
-
-bool AmmoPusher::hasPusherFinishedDrawing(){
-    if ( mDrawingLimitSwitch->read() ){
-        mDrawerMotor->setActionType( I2CMotor::BRAKE );
-        return true;
-    }
-    return false;
-}