Diff: ikarashiSV.cpp

Revision:

0:2b253298d427

Child:

1:696f7c0ab1bd

Child:

2:d08346d0178a

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ikarashiSV.cpp	Mon Oct 11 07:48:12 2021 +0000
@@ -0,0 +1,94 @@
+#include "ikarashiSV.h"
+
+ikarashiSV::ikarashiSV(PinName pin_a,PinName pin_b,PinName pin_c,PinName pin_d):
+    port_a(pin_a), port_b(pin_b), port_c(pin_c), port_d(pin_d)
+{
+    state = 0;
+    solenoid_status = 0;
+}
+
+void ikarashiSV::add_state()
+{
+    state++;
+}
+
+void ikarashiSV::solenoid(int _state)
+{
+    switch(_state) {
+        case 1:
+            //下だけ上がる
+            port_a = 0;
+            port_b = 1;
+            solenoid_status = 1;
+            break;
+        case 2:
+            //投げる
+            port_c = 1;
+            port_d = 0;
+            solenoid_status = 2;
+            break;
+        case 0:
+            //戻る
+            port_c = 0;
+            port_d = 1;
+            wait(0.3);
+
+            port_a = 1;
+            port_b = 0;
+            solenoid_status = 0;
+            break;
+    }
+}
+
+void ikarashiSV::solenoid_show()
+{
+    switch(solenoid_status) {
+        case 1:
+            printf("1:push\n\r");
+            break;
+        case 2:
+            printf("\t2:push\n\r");
+            break;
+        case 0:
+            printf("1:pull  2:pull\n\r");
+            break;
+    }
+}
+
+int ikarashiSV::state_show()
+{
+    return state;
+}
+
+/* サンプルコード
+
+#include "mbed.h"
+#include "ikarashiSV.h"
+
+Serial pc(USBTX, USBRX,115200);
+
+ikarashiSV slv(PB_1,PB_2,PB_15,PB_14);
+
+ボタンを押したときor離したときを読み取る定義の仕方
+InterruptIn button(USER_BUTTON);
+
+void add()
+{
+    slv.add_state();
+}
+
+int main()
+{
+    int val;
+    while(1) {
+        button.fall(&add);
+        val = slv.state_show();
+        pc.printf("\t\tstate : %d",val);
+        if(val >= 1) {
+            slv.solenoid(val%3);
+        }
+        slv.solenoid_show();
+    }
+}
+
+*/
\ No newline at end of file