tarou yamada / AmmoSupplier

Dependents:   ShootingSystem

AmmoSupplier.cpp@0:49a747f09bd2, 2015-08-21 (annotated)

Committer:
inst
Date:
Fri Aug 21 04:52:23 2015 +0000
Revision:
0:49a747f09bd2
Child:
1:2a43c09cc3be
y evol

Who changed what in which revision?

UserRevisionLine numberNew 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 0:49a747f09bd2 4
inst 0:49a747f09bd2 5 const float AmmoSupplier::mTimeout_sec = 3.0f;
inst 0:49a747f09bd2 6 const float AmmoSupplier::mDuty = 0.5f;
inst 0:49a747f09bd2 7 const PinName AmmoSupplier::mLazerSensorDinPinName = D5;
inst 0:49a747f09bd2 8
inst 0:49a747f09bd2 9 AmmoSupplier::AmmoSupplier( I2CMotor** motor ){
inst 0:49a747f09bd2 10 mSupplier = motor;
inst 0:49a747f09bd2 11 mAmmoLazerSensor = new DigitalIn( mLazerSensorDinPinName );
inst 0:49a747f09bd2 12 mTimer = new Timer;
inst 0:49a747f09bd2 13 mIsSupplying = false;
inst 0:49a747f09bd2 14 }
inst 0:49a747f09bd2 15
inst 0:49a747f09bd2 16 void AmmoSupplier::update(){
inst 0:49a747f09bd2 17 I2CMotor::ActionType action = I2CMotor::BRAKE;
inst 0:49a747f09bd2 18
inst 0:49a747f09bd2 19 if ( mIsSupplying ){
inst 0:49a747f09bd2 20 if ( mTimer->read() > mTimeout_sec ){
inst 0:49a747f09bd2 21 mIsSupplying = false;
inst 0:49a747f09bd2 22 mTimer->stop();
inst 0:49a747f09bd2 23 mTimer->reset();
inst 0:49a747f09bd2 24 } else if ( mAmmoLazerSensor->read() ){
inst 0:49a747f09bd2 25 mIsSupplying = false;
inst 0:49a747f09bd2 26 } else {
inst 0:49a747f09bd2 27 action = I2CMotor::FORWARD;
inst 0:49a747f09bd2 28 }
inst 0:49a747f09bd2 29 }
inst 0:49a747f09bd2 30
inst 0:49a747f09bd2 31 for ( int i = 0; i < 2; ++i ){
inst 0:49a747f09bd2 32 mSupplier[ i ]->setActionType( action );
inst 0:49a747f09bd2 33 mSupplier[ i ]->setDuty( mDuty );
inst 0:49a747f09bd2 34 }
inst 0:49a747f09bd2 35 }