Revision 1:b6face630ed3, committed 2015-10-14

Comitter:

inst

Date:

Wed Oct 14 06:05:07 2015 +0000

Parent:

0:9b3bf538a693

Commit message:

Changed in this revision

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 );
     }
 }

diff -r 9b3bf538a693 -r b6face630ed3 YMotorDriverShooter.h
--- a/YMotorDriverShooter.h	Sun Aug 23 15:18:25 2015 +0000
+++ b/YMotorDriverShooter.h	Wed Oct 14 06:05:07 2015 +0000
@@ -6,19 +6,21 @@
 class YMotorDriverShooter : public YMotorDriverBase{
 public:
     enum ShooterActionType{
-        STOP        = 0,
-        WORKING_8V  = 4,
-        WORKING_12V = 5,
-        WORKING_16V = 6
+        STOP        = 0x00, // 0000(2)
+        WORKING_8V  = 0x01, // 0001(2)
+        WORKING_12V = 0x03, // 0011(2)
+        WORKING_16V = 0x07, // 0111(2)
+        WORKING_20V = 0x0F  // 1111(2)
     };
 
     YMotorDriverShooter( char address );
-    virtual void update();
     
 private:
-    void write();
+    virtual void write();
+    virtual void updateI2CSlave();
 
     static const PinName mRelayDriveDoutPinName[];
+    
     DigitalOut** mRelayDriveDout;
     ShooterActionType mActionType;
 };