Revision 2:5ec2a3097d4c, committed 2015-10-14

Comitter:

inst

Date:

Wed Oct 14 03:52:34 2015 +0000

Parent:

1:42d2772575c5

Commit message:

Changed in this revision

--- 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;
-}

--- a/AmmoPusher.h	Fri Aug 21 04:52:43 2015 +0000
+++ b/AmmoPusher.h	Wed Oct 14 03:52:34 2015 +0000
@@ -2,27 +2,51 @@
 #define INCLUDED_AMMO_PUSHER_H
 
 #include "mbed.h"
-class I2CMotor;
+#include "I2CDevice.h"
 
-class AmmoPusher {
+class AmmoPusher : public I2CDevice{
 public:
-    AmmoPusher( I2CMotor* drawerMotor );
+    enum ActionType{
+        NO_OPERATION,
+        DRAWING,
+        PUSHING
+    };
+    enum State{
+        BETWEEN,
+        HAS_FINISHED_DRAWING,
+        HAS_FINISHED_PUSHING
+    };
+
+    AmmoPusher( char address );
     
-    void update();
-    void draw();
-    void push();
+    void push(){
+        setActionType( PUSHING );
+    }
+    void draw(){
+        setActionType( DRAWING );
+    }
+    void setActionType( ActionType action ){
+        mActionType = action;
+    }
+    State getState(){
+        return mState;
+    }
+    bool isWorking(){
+        return ( ( mState == BETWEEN ) && ( mActionType != NO_OPERATION ) );
+    }
+    bool hasPushed(){
+        return ( mState ==  HAS_FINISHED_PUSHING );
+    }
+    bool hasDrawn(){
+        return ( mState ==  HAS_FINISHED_DRAWING );
+    }
     
-    bool hasPusherFinishedDrawing();
-    bool hasPusherFinishedPushing();
+    virtual int write();
+    virtual int read();
     
 private:
-    static const float mDuty;
-    static const PinName mDrawingLimitSwitchPinName;
-    static const PinName mPushingLimitSwitchPinName;
-
-    DigitalIn* mDrawingLimitSwitch;
-    DigitalIn* mPushingLimitSwitch;
-    I2CMotor* mDrawerMotor;
+    ActionType mActionType;
+    State mState;
 };
 
 #endif