tarou yamada
AmmoSupplier.cpp@1:2a43c09cc3be, 2015-10-14 (annotated)
- Committer:
- inst
- Date:
- Wed Oct 14 03:52:41 2015 +0000
- Revision:
- 1:2a43c09cc3be
- Parent:
- 0:49a747f09bd2
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| inst | 0:49a747f09bd2 | 1 | #include "mbed.h" |
| inst | 0:49a747f09bd2 | 2 | #include "AmmoSupplier.h" |
| inst | 0:49a747f09bd2 | 3 | #include "I2CMotor.h" |
| inst | 1:2a43c09cc3be | 4 | #include "ShootingSystem.h" |
| inst | 0:49a747f09bd2 | 5 | |
| inst | 1:2a43c09cc3be | 6 | AmmoSupplier::AmmoSupplier( char address ) : I2CDevice( address ){ |
| inst | 1:2a43c09cc3be | 7 | mSupplyCommand = false; |
| inst | 1:2a43c09cc3be | 8 | mIsSupplying = false; |
| inst | 1:2a43c09cc3be | 9 | mHasSupplied = false; |
| inst | 0:49a747f09bd2 | 10 | } |
| inst | 0:49a747f09bd2 | 11 | |
| inst | 1:2a43c09cc3be | 12 | int AmmoSupplier::write(){ |
| inst | 1:2a43c09cc3be | 13 | int val = 0; |
| inst | 0:49a747f09bd2 | 14 | |
| inst | 1:2a43c09cc3be | 15 | if ( mSupplyCommand ){ |
| inst | 1:2a43c09cc3be | 16 | char buf = 1; |
| inst | 1:2a43c09cc3be | 17 | val = I2CDevice::write( &buf, 1 ); |
| inst | 1:2a43c09cc3be | 18 | mSupplyCommand = false; |
| inst | 0:49a747f09bd2 | 19 | } |
| inst | 0:49a747f09bd2 | 20 | |
| inst | 1:2a43c09cc3be | 21 | return val; |
| inst | 1:2a43c09cc3be | 22 | } |
| inst | 1:2a43c09cc3be | 23 | |
| inst | 1:2a43c09cc3be | 24 | int AmmoSupplier::read(){ |
| inst | 1:2a43c09cc3be | 25 | char buf; |
| inst | 1:2a43c09cc3be | 26 | int val = I2CDevice::read( &buf, 1 ); |
| inst | 1:2a43c09cc3be | 27 | |
| inst | 1:2a43c09cc3be | 28 | mHasSupplied = ( mIsSupplying && !buf ); |
| inst | 1:2a43c09cc3be | 29 | mIsSupplying = buf; |
| inst | 1:2a43c09cc3be | 30 | |
| inst | 1:2a43c09cc3be | 31 | //printf( "%d\n", buf ); |
| inst | 1:2a43c09cc3be | 32 | |
| inst | 1:2a43c09cc3be | 33 | /* |
| inst | 1:2a43c09cc3be | 34 | if ( mHasSupplied ){ |
| inst | 1:2a43c09cc3be | 35 | wait( 1.0f ); |
| inst | 0:49a747f09bd2 | 36 | } |
| inst | 1:2a43c09cc3be | 37 | */ |
| inst | 1:2a43c09cc3be | 38 | |
| inst | 1:2a43c09cc3be | 39 | return val; |
| inst | 0:49a747f09bd2 | 40 | } |