tarou yamada
Dependencies: PID_ PWMOut YMotorDriverBase YMotorDriverPusher YMotorDriverServo YMotorDriverShooter YMotorDriverSupplier
YMotorDriver.h@4:7b3ed02bf4cc, 2015-11-13 (annotated)
- Committer:
- inst
- Date:
- Fri Nov 13 08:19:04 2015 +0000
- Revision:
- 4:7b3ed02bf4cc
- Parent:
- 2:2e3b56f045f5
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| inst | 0:44b89a084daf | 1 | #ifndef INCLUDED_YMOTOR_DRIVER_H |
| inst | 0:44b89a084daf | 2 | #define INCLUDED_YMOTOR_DRIVER_H |
| inst | 0:44b89a084daf | 3 | |
| inst | 0:44b89a084daf | 4 | #include "mbed.h" |
| inst | 0:44b89a084daf | 5 | |
| inst | 0:44b89a084daf | 6 | class YMotorDriverBase; |
| inst | 0:44b89a084daf | 7 | |
| inst | 0:44b89a084daf | 8 | class YMotorDriver{ |
| inst | 0:44b89a084daf | 9 | public: |
| inst | 2:2e3b56f045f5 | 10 | enum MotorTypeID{ |
| inst | 2:2e3b56f045f5 | 11 | STEERING_0_ID, |
| inst | 2:2e3b56f045f5 | 12 | STEERING_1_ID, |
| inst | 2:2e3b56f045f5 | 13 | STEERING_2_ID, |
| inst | 2:2e3b56f045f5 | 14 | SHOOTER_ID, |
| inst | 4:7b3ed02bf4cc | 15 | GENERAL_ID |
| inst | 2:2e3b56f045f5 | 16 | }; |
| inst | 2:2e3b56f045f5 | 17 | |
| inst | 4:7b3ed02bf4cc | 18 | static YMotorDriver* getInstance(){ |
| inst | 4:7b3ed02bf4cc | 19 | if ( mInstance == NULL ){ |
| inst | 4:7b3ed02bf4cc | 20 | mInstance = new YMotorDriver(); |
| inst | 4:7b3ed02bf4cc | 21 | } |
| inst | 4:7b3ed02bf4cc | 22 | return mInstance; |
| inst | 4:7b3ed02bf4cc | 23 | } |
| inst | 4:7b3ed02bf4cc | 24 | void update(); |
| inst | 4:7b3ed02bf4cc | 25 | |
| inst | 4:7b3ed02bf4cc | 26 | private: |
| inst | 0:44b89a084daf | 27 | YMotorDriver(); |
| inst | 0:44b89a084daf | 28 | ~YMotorDriver(); |
| inst | 0:44b89a084daf | 29 | |
| inst | 4:7b3ed02bf4cc | 30 | static YMotorDriver* mInstance; |
| inst | 0:44b89a084daf | 31 | |
| inst | 4:7b3ed02bf4cc | 32 | static const PinName mAddressDeciderPinName[]; |
| inst | 0:44b89a084daf | 33 | static const char mYMotorDriverBaseAddress[]; |
| inst | 0:44b89a084daf | 34 | static const char mYMotorDriverServoAddress[]; |
| inst | 0:44b89a084daf | 35 | static const char mYMotorDriverSupplierAddress[]; |
| inst | 0:44b89a084daf | 36 | static const char mYMotorDriverPusherAddress[]; |
| inst | 0:44b89a084daf | 37 | static const char mYMotorDriverShooterAddress[]; |
| inst | 2:2e3b56f045f5 | 38 | static const char mYMotorDriverPositionManagerAddress[]; |
| inst | 0:44b89a084daf | 39 | |
| inst | 0:44b89a084daf | 40 | static const size_t mNumOfYMotorDriverBaseAddress; |
| inst | 0:44b89a084daf | 41 | static const size_t mNumOfYMotorDriverServoAddress; |
| inst | 0:44b89a084daf | 42 | static const size_t mNumOfYMotorDriverSupplierAddress; |
| inst | 0:44b89a084daf | 43 | static const size_t mNumOfYMotorDriverPusherAddress; |
| inst | 0:44b89a084daf | 44 | static const size_t mNumOfYMotorDriverShooterAddress; |
| inst | 2:2e3b56f045f5 | 45 | static const size_t mNumOfYMotorDriverPositionManagerAddress; |
| inst | 0:44b89a084daf | 46 | |
| inst | 4:7b3ed02bf4cc | 47 | YMotorDriverBase* mYMotorDriver; |
| inst | 0:44b89a084daf | 48 | char mAddress; |
| inst | 0:44b89a084daf | 49 | }; |
| inst | 0:44b89a084daf | 50 | |
| inst | 0:44b89a084daf | 51 | #endif |