tarou yamada
YMotorDriverShooter.cpp@1:b6face630ed3, 2015-10-14 (annotated)
- Committer:
- inst
- Date:
- Wed Oct 14 06:05:07 2015 +0000
- Revision:
- 1:b6face630ed3
- Parent:
- 0:9b3bf538a693
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| inst | 0:9b3bf538a693 | 1 | #include "YMotorDriverShooter.h" |
| inst | 0:9b3bf538a693 | 2 | #include "YMotorDriverBase.h" |
| inst | 1:b6face630ed3 | 3 | #include "YMotorDriver.h" |
| inst | 0:9b3bf538a693 | 4 | #include "mbed.h" |
| inst | 0:9b3bf538a693 | 5 | |
| inst | 0:9b3bf538a693 | 6 | const PinName YMotorDriverShooter::mRelayDriveDoutPinName[] = { |
| inst | 1:b6face630ed3 | 7 | dp14, |
| inst | 1:b6face630ed3 | 8 | dp11, |
| inst | 1:b6face630ed3 | 9 | dp4, |
| inst | 1:b6face630ed3 | 10 | dp2 |
| inst | 0:9b3bf538a693 | 11 | }; |
| inst | 0:9b3bf538a693 | 12 | |
| inst | 1:b6face630ed3 | 13 | YMotorDriverShooter::YMotorDriverShooter( char address ) : YMotorDriverBase( address, YMotorDriver::SHOOTER_ID ){ |
| inst | 1:b6face630ed3 | 14 | mRelayDriveDout = new DigitalOut*[ 4 ]; |
| inst | 1:b6face630ed3 | 15 | for ( int i = 0; i < 4; ++i ){ |
| inst | 0:9b3bf538a693 | 16 | mRelayDriveDout[ i ] = new DigitalOut( mRelayDriveDoutPinName[ i ] ); |
| inst | 0:9b3bf538a693 | 17 | } |
| inst | 0:9b3bf538a693 | 18 | |
| inst | 0:9b3bf538a693 | 19 | mActionType = STOP; |
| inst | 0:9b3bf538a693 | 20 | } |
| inst | 0:9b3bf538a693 | 21 | |
| inst | 1:b6face630ed3 | 22 | void YMotorDriverShooter::updateI2CSlave(){ |
| inst | 0:9b3bf538a693 | 23 | switch ( mI2C->receive() ){ |
| inst | 0:9b3bf538a693 | 24 | case I2CSlave::ReadAddressed:{ |
| inst | 0:9b3bf538a693 | 25 | char buf = mActionType; |
| inst | 0:9b3bf538a693 | 26 | mI2C->write( &buf, 1 ); |
| inst | 0:9b3bf538a693 | 27 | break; |
| inst | 0:9b3bf538a693 | 28 | } |
| inst | 0:9b3bf538a693 | 29 | case I2CSlave::WriteGeneral: |
| inst | 0:9b3bf538a693 | 30 | break; |
| inst | 0:9b3bf538a693 | 31 | |
| inst | 0:9b3bf538a693 | 32 | case I2CSlave::WriteAddressed:{ |
| inst | 0:9b3bf538a693 | 33 | char buf; |
| inst | 0:9b3bf538a693 | 34 | mI2C->read( &buf, 1 ); |
| inst | 0:9b3bf538a693 | 35 | mActionType = static_cast< ShooterActionType >( buf ); |
| inst | 0:9b3bf538a693 | 36 | break; |
| inst | 0:9b3bf538a693 | 37 | } |
| inst | 0:9b3bf538a693 | 38 | |
| inst | 0:9b3bf538a693 | 39 | case I2CSlave::NoData: |
| inst | 0:9b3bf538a693 | 40 | break; |
| inst | 0:9b3bf538a693 | 41 | } |
| inst | 0:9b3bf538a693 | 42 | } |
| inst | 0:9b3bf538a693 | 43 | |
| inst | 0:9b3bf538a693 | 44 | void YMotorDriverShooter::write(){ |
| inst | 1:b6face630ed3 | 45 | for ( int i = 0; i < 4; ++i ){ |
| inst | 0:9b3bf538a693 | 46 | mRelayDriveDout[ i ]->write( ( mActionType >> i ) & 0x01 ); |
| inst | 0:9b3bf538a693 | 47 | } |
| inst | 0:9b3bf538a693 | 48 | } |