Keven Gomes
This is a remote control tester, it uses a CNC, Ethernet Communication with a JAVAFX interface and a PLC in order to control some valves.
Dependencies: EthernetInterface mbed-rtos mbed
Fork of
CNC_CONTROLLER
by 
Lahis Almeida
Diff: EixoController.cpp
- Revision:
- 2:835c883d81b0
- Parent:
- 1:ef18c260ce02
--- a/EixoController.cpp Mon Sep 18 13:05:47 2017 +0000
+++ b/EixoController.cpp Fri Dec 15 19:40:41 2017 +0000
@@ -1,22 +1,23 @@
#include "EixoController.h"
-EixoController::EixoController(float totalPathPulse, float totalPathCm, Stepp *motor, PinName pinOrigin, PinName pinEnd): swOrigin(pinOrigin), swEnd(pinEnd) {
-
+EixoController::EixoController(float totalPathPulse, float totalPathCm, Stepp *motor,PCF8574 *pcf, int swOrigin, int swEnd){
+ this->pcf = pcf;
this->totalPathPulse = totalPathPulse;
this->totalPathCm = totalPathCm;
this->motor = motor;
-
- debug = new Debug();
+ this->swOrigin = swOrigin;
+ this->swEnd = swEnd;
+ debug = new Debug();
}
-bool EixoController:: goToOrigem(DigitalIn swOrigem, int dirOrigem){
- if(swOrigem == 1){ // já está na origem ?
+bool EixoController:: goToOrigem(int dirOrigem){
+ if(this->pcf->read(this->swOrigin) == 1){ // já está na origem ?
return true;
}
else{ // vá para a origem
- return motor->findLimits(30000, dirOrigem, swOrigem);
+ return motor->findLimits(30000, dirOrigem, this->pcf,this->swOrigin);
}
}