Diff: YMotorDriver.cpp

Revision:

0:44b89a084daf

Child:

1:793d739ebf5e

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/YMotorDriver.cpp	Sun Aug 23 15:18:32 2015 +0000
@@ -0,0 +1,100 @@
+#include "YMotorDriver.h"
+#include "YMotorDriverServo.h"
+#include "YMotorDriverSupplier.h"
+#include "YMotorDriverPusher.h"
+#include "YMotorDriverShooter.h"
+
+const PinName YMotorDriver::mAddressDeciderPinName[]  = {
+    dp17, dp18, dp26, dp25
+};
+const char YMotorDriver::mYMotorDriverBaseAddress[] = {
+    0xA0 | ( 0x01 << 1 ),
+    0xA0 | ( 0x02 << 1 ),
+    0xA0 | ( 0x03 << 1 ),
+    0xA0 | ( 0x04 << 1 )
+};
+const char YMotorDriver::mYMotorDriverServoAddress[] = {
+    0xA0 | ( 0x05 << 1 ),
+    0xA0 | ( 0x06 << 1 ),
+    0xA0 | ( 0x07 << 1 ),
+    0xA0 | ( 0x08 << 1 ),
+    0xA0 | ( 0x09 << 1 ),
+    0xA0 | ( 0x0A << 1 )
+};
+const char YMotorDriver::mYMotorDriverSupplierAddress[] = {
+    0xA0 | ( 0x0B << 1 ),
+    0xA0 | ( 0x0C << 1 )
+};
+const char YMotorDriver::mYMotorDriverPusherAddress[] = {
+    0xA0 | ( 0x0D << 1 )
+};
+const char YMotorDriver::mYMotorDriverShooterAddress[] = {
+    0xA0 | ( 0x0E << 1 )
+};
+const size_t YMotorDriver::mNumOfYMotorDriverBaseAddress     = 4;
+const size_t YMotorDriver::mNumOfYMotorDriverServoAddress    = 6;
+const size_t YMotorDriver::mNumOfYMotorDriverSupplierAddress = 2;
+const size_t YMotorDriver::mNumOfYMotorDriverPusherAddress   = 1;
+const size_t YMotorDriver::mNumOfYMotorDriverShooterAddress  = 1;
+
+YMotorDriver::YMotorDriver(){
+    char address = 0xA0;    // 10100000(2)
+    for ( int i = 0; i < 4; ++i ){
+        // 101xxxx0 --- xxxxの部分に入力データが入る
+        DigitalIn d( mAddressDeciderPinName[ i ] );
+        address |= d.read() << ( i + 1 );
+    }
+    
+    // Motor
+    for ( int i = 0; i < mNumOfYMotorDriverBaseAddress; ++i ){
+        if ( address == mYMotorDriverBaseAddress[ i ] ){
+            mYMotorDriver = new YMotorDriverBase( address );
+            return;
+        }
+    }
+    // Servo
+    for ( int i = 0; i < mNumOfYMotorDriverServoAddress; ++i ){
+        if ( address == mYMotorDriverServoAddress[ i ] ){
+            mYMotorDriver = new YMotorDriverServo( address, i );
+            return;
+        }
+    }
+    // Supplier
+    for ( int i = 0; i < mNumOfYMotorDriverSupplierAddress; ++i ){
+        if ( address == mYMotorDriverSupplierAddress[ i ] ){
+            mYMotorDriver = new YMotorDriverSupplier( address );
+            return;
+        }
+    }
+    // Pusher
+    for ( int i = 0; i < mNumOfYMotorDriverPusherAddress; ++i ){
+        if ( address == mYMotorDriverPusherAddress[ i ] ){
+            mYMotorDriver = new YMotorDriverPusher( address );
+            return;
+        }
+    }
+    // Shooter
+    for ( int i = 0; i < mNumOfYMotorDriverShooterAddress; ++i ){
+        if ( address == mYMotorDriverShooterAddress[ i ] ){
+            mYMotorDriver = new YMotorDriverShooter( address );
+            return;
+        }
+    }
+    
+    DigitalOut err( dp28 );
+    while ( true ){
+        printf( "address:%d\r", address );
+        err = 1;
+        wait( 0.5f );
+        err = 0;
+        wait( 0.5f );
+    }
+}
+
+YMotorDriver::~YMotorDriver(){
+    delete mYMotorDriver;
+}
+
+void YMotorDriver::update(){
+    mYMotorDriver->update();
+}