Diff: YMotorDriverShooter.cpp
- Revision:
- 1:b6face630ed3
- Parent:
- 0:9b3bf538a693
diff -r 9b3bf538a693 -r b6face630ed3 YMotorDriverShooter.cpp --- a/YMotorDriverShooter.cpp Sun Aug 23 15:18:25 2015 +0000 +++ b/YMotorDriverShooter.cpp Wed Oct 14 06:05:07 2015 +0000 @@ -1,23 +1,25 @@ #include "YMotorDriverShooter.h" #include "YMotorDriverBase.h" +#include "YMotorDriver.h" #include "mbed.h" const PinName YMotorDriverShooter::mRelayDriveDoutPinName[] = { - dp6, - dp13, - dp14 + dp14, + dp11, + dp4, + dp2 }; -YMotorDriverShooter::YMotorDriverShooter( char address ) : YMotorDriverBase( address ){ - mRelayDriveDout = new DigitalOut*[ 3 ]; - for ( int i = 0; i < 3; ++i ){ +YMotorDriverShooter::YMotorDriverShooter( char address ) : YMotorDriverBase( address, YMotorDriver::SHOOTER_ID ){ + mRelayDriveDout = new DigitalOut*[ 4 ]; + for ( int i = 0; i < 4; ++i ){ mRelayDriveDout[ i ] = new DigitalOut( mRelayDriveDoutPinName[ i ] ); } mActionType = STOP; } -void YMotorDriverShooter::update(){ +void YMotorDriverShooter::updateI2CSlave(){ switch ( mI2C->receive() ){ case I2CSlave::ReadAddressed:{ char buf = mActionType; @@ -37,12 +39,10 @@ case I2CSlave::NoData: break; } - - write(); } void YMotorDriverShooter::write(){ - for ( int i = 0; i < 3; ++i ){ + for ( int i = 0; i < 4; ++i ){ mRelayDriveDout[ i ]->write( ( mActionType >> i ) & 0x01 ); } }