Diff: YMotorDriverShooter.cpp

Revision:

0:9b3bf538a693

Child:

1:b6face630ed3

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/YMotorDriverShooter.cpp	Sun Aug 23 15:18:25 2015 +0000
@@ -0,0 +1,48 @@
+#include "YMotorDriverShooter.h"
+#include "YMotorDriverBase.h"
+#include "mbed.h"
+
+const PinName YMotorDriverShooter::mRelayDriveDoutPinName[] = {
+    dp6,
+    dp13,
+    dp14
+};
+
+YMotorDriverShooter::YMotorDriverShooter( char address ) : YMotorDriverBase( address ){
+    mRelayDriveDout = new DigitalOut*[ 3 ];
+    for ( int i = 0; i < 3; ++i ){
+        mRelayDriveDout[ i ] = new DigitalOut( mRelayDriveDoutPinName[ i ] );
+    }
+    
+    mActionType = STOP;
+}
+
+void YMotorDriverShooter::update(){
+    switch ( mI2C->receive() ){
+        case I2CSlave::ReadAddressed:{
+            char buf = mActionType;
+            mI2C->write( &buf, 1 );
+            break;
+        }
+        case I2CSlave::WriteGeneral:
+            break;
+        
+        case I2CSlave::WriteAddressed:{
+            char buf;
+            mI2C->read( &buf, 1 );
+            mActionType = static_cast< ShooterActionType >( buf );
+            break;
+        }
+        
+        case I2CSlave::NoData:
+            break;
+    }
+    
+    write();
+}
+
+void YMotorDriverShooter::write(){
+    for ( int i = 0; i < 3; ++i ){
+        mRelayDriveDout[ i ]->write( ( mActionType >> i ) & 0x01 );
+    }
+}