tarou yamada
SteeringTire.h@0:0cd6b505ba45, 2015-10-15 (annotated)
- Committer:
- inst
- Date:
- Thu Oct 15 08:46:09 2015 +0000
- Revision:
- 0:0cd6b505ba45
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| inst | 0:0cd6b505ba45 | 1 | #ifndef INCLUDED_STEERING_TIRE_H |
| inst | 0:0cd6b505ba45 | 2 | #define INCLUDED_STEERING_TIRE_H |
| inst | 0:0cd6b505ba45 | 3 | |
| inst | 0:0cd6b505ba45 | 4 | #include "Steering.h" |
| inst | 0:0cd6b505ba45 | 5 | #include <stdint.h> |
| inst | 0:0cd6b505ba45 | 6 | #include "mbed.h" |
| inst | 0:0cd6b505ba45 | 7 | class Command; |
| inst | 0:0cd6b505ba45 | 8 | class I2CMotor; |
| inst | 0:0cd6b505ba45 | 9 | |
| inst | 0:0cd6b505ba45 | 10 | class SteeringTire{ |
| inst | 0:0cd6b505ba45 | 11 | public: |
| inst | 0:0cd6b505ba45 | 12 | SteeringTire( I2CMotor** tire ); |
| inst | 0:0cd6b505ba45 | 13 | ~SteeringTire(); |
| inst | 0:0cd6b505ba45 | 14 | void update( Steering::ActionType action, Command command ); |
| inst | 0:0cd6b505ba45 | 15 | |
| inst | 0:0cd6b505ba45 | 16 | private: |
| inst | 0:0cd6b505ba45 | 17 | void updateMove( Command command ); |
| inst | 0:0cd6b505ba45 | 18 | void updateRoll( Command command ); |
| inst | 0:0cd6b505ba45 | 19 | void updateStop( Command command ); |
| inst | 0:0cd6b505ba45 | 20 | void updateWaitServo( Command command ); |
| inst | 0:0cd6b505ba45 | 21 | |
| inst | 0:0cd6b505ba45 | 22 | static const uint32_t mReleaseStopTime_ms[]; |
| inst | 0:0cd6b505ba45 | 23 | static const float mBrakeReleaseThreshold; |
| inst | 0:0cd6b505ba45 | 24 | |
| inst | 0:0cd6b505ba45 | 25 | I2CMotor** mTire; |
| inst | 0:0cd6b505ba45 | 26 | |
| inst | 0:0cd6b505ba45 | 27 | bool mIsReleaseStop; |
| inst | 0:0cd6b505ba45 | 28 | Timer* mTimer; |
| inst | 0:0cd6b505ba45 | 29 | Steering::ActionType mPrevActionType; |
| inst | 0:0cd6b505ba45 | 30 | }; |
| inst | 0:0cd6b505ba45 | 31 | |
| inst | 0:0cd6b505ba45 | 32 | #endif |