Diff: YMotorDriverPusher.cpp

Revision:

0:4b3f0e4681c9

Child:

1:9af02800ffac

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/YMotorDriverPusher.cpp	Sun Aug 23 15:18:17 2015 +0000
@@ -0,0 +1,62 @@
+#include "YMotorDriverBase.h"
+#include "YMotorDriverPusher.h"
+#include "mbed.h"
+
+const float YMotorDriverPusher::mDuty = 0.5f;
+const PinName YMotorDriverPusher::mDinPinName[] = {
+    dp2,
+    dp4
+};
+
+YMotorDriverPusher::YMotorDriverPusher( char address ) : YMotorDriverBase( address ){
+    mSwitchDin = new DigitalIn*[ 2 ];
+    for ( int i = 0; i < 2; ++i ){
+        mSwitchDin[ i ] = new DigitalIn( mDinPinName[ i ] );
+    }
+    mState = NO_OPERATION;
+}
+
+void YMotorDriverPusher::update(){
+    switch ( mI2C->receive() ){
+        case I2CSlave::ReadAddressed:{
+            char buf = mState;
+            mI2C->write( &buf, 1 );
+            break;
+        }
+        case I2CSlave::WriteGeneral:
+            break;
+        
+        case I2CSlave::WriteAddressed:{
+            char buf;
+            mI2C->read( &buf, 1 );
+            mState = static_cast< State >( buf );
+            break;
+        }
+        
+        case I2CSlave::NoData:
+            break;
+    }
+    
+    updatePusher();
+    write();
+}
+
+void YMotorDriverPusher::updatePusher(){
+    for ( int i = 0; i < 2; ++i ){
+        // もしリミットスイッチに入力があったら止める
+        if ( mSwitchDin[ i ]->read() ){
+            mState = NO_OPERATION;
+            break;
+        }
+    }
+    
+    MotorAction action = BRAKE;
+    if ( mState == DRAWING ){
+        action = REVERSE;
+    } else if ( mState == PUSHING ){
+        action = FORWARD;
+    }
+    
+    setMotorAction( action );
+    setDuty( mDuty );
+}