kaito kachi / serial_connected_mcu

Fork of serial_connected_mcu by tarou yamada

serial_connected_mcu.hpp@5:4f51af2919d5, 2016-07-10 (annotated)

Committer:
kachikyun
Date:
Sun Jul 10 07:24:41 2016 +0000
Revision:
5:4f51af2919d5
Parent:
4:1323ef48a984 

        

        
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#ifndef INCUDED_SERIAL_CONNECTED_MCU_HPP





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#define INCUDED_SERIAL_CONNECTED_MCU_HPP





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#include "rotary_encoder_ab_phase.hpp"





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#include "servo.hpp"





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#include "serial_connected_mcu_slave.hpp"





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#include "mbed.h"





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namespace serial_connected_mcu {





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class serial_connected_mcu {





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public:





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    enum servo_id {





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        SERVO_0,





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        SERVO_1,





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        SERVO_2,





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        SERVO_NUM





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    };





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    enum encoder_id {





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        ENCODER_0,





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        ENCODER_1,





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        ENCODER_2,





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        ENCODER_NUM





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    };





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    enum analog_input_id {





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        ANALOG_IN_0,





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        ANALOG_IN_1,





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        ANALOG_IN_2,





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        ANALOG_INPUT_NUM





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    };





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    static serial_connected_mcu* instance();





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    void update();





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private:





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    serial_connected_mcu();





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    ~serial_connected_mcu();





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    // 実体を記述しない





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    void operator=(const serial_connected_mcu&);





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    serial_connected_mcu(const serial_connected_mcu&);





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    static serial_connected_mcu* _instance;





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    static const PinName _servo_pins[SERVO_NUM];





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    static TIM_TypeDef* _encoder_timers[ENCODER_NUM];





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    static const size_t _encoder_pulse_per_revol;





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    static const PinName _analog_input_pins[ANALOG_INPUT_NUM];





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    servo* _servos[SERVO_NUM];





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    rotary_encoder_ab_phase* _encoders[ENCODER_NUM];





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    AnalogIn* _analog_inputs[ANALOG_INPUT_NUM];





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    serial_connected_mcu_slave _slave;





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};





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} /* namespace serial_connected_mcu */





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#endif