Diff: mcchk.h

Revision:

0:73dd48be5ca6

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mcchk.h	Thu Jul 26 00:20:15 2018 +0000
@@ -0,0 +1,66 @@
+class mcchk
+{
+private:
+    float m_LBCRW_center_value;
+    float m_RFCRW_center_value;
+    float m_LBTFM_center_value;
+    float m_RFTFM_center_value;
+    float m_WINCH_center_value;
+    float m_CMPAN_center_value;
+    float m_CTILT_center_value;
+    
+    int8_t flg_mclock_LBCRW;    // bit0: forward, bit1: reverse 
+    int8_t flg_mclock_RFCRW;    // bit0: forward, bit1: reverse
+    int8_t flg_mclock_LBTFM;    // bit0: forward, bit1: reverse
+    int8_t flg_mclock_RFTFM;    // bit0: forward, bit1: reverse 
+    int8_t flg_mclock_CMPAN;    // bit0: forward, bit1: reverse 
+    int8_t flg_mclock_CTILT;    // bit0: forward, bit1: reverse 
+    int8_t flg_mclock_WINCH;    // bit0: forward, bit1: reverse 
+
+public:
+    
+    int8_t cnt_mclock_LBCRW_f;    // motor lock counter 
+    int8_t cnt_mclock_LBCRW_r;    // motor lock counter 
+    int8_t cnt_mclock_RFCRW_f;    // motor lock counter 
+    int8_t cnt_mclock_RFCRW_r;    // motor lock counter 
+    int8_t cnt_mclock_LBTFM_f;    // motor lock counter 
+    int8_t cnt_mclock_LBTFM_r;    // motor lock counter 
+    int8_t cnt_mclock_RFTFM_f;    // motor lock counter  
+    int8_t cnt_mclock_RFTFM_r;    // motor lock counter  
+    int8_t cnt_mclock_CMPAN_f;    // motor lock counter 
+    int8_t cnt_mclock_CMPAN_r;    // motor lock counter 
+    int8_t cnt_mclock_CTILT_f;    // motor lock counter 
+    int8_t cnt_mclock_CTILT_r;    // motor lock counter 
+    int8_t cnt_mclock_WINCH_f;    // motor lock counter  
+    int8_t cnt_mclock_WINCH_r;    // motor lock counter  
+
+
+    int16_t mc_th_LBCRW_f;
+    int16_t mc_th_LBCRW_r;
+    int16_t mc_th_RFCRW_f;
+    int16_t mc_th_RFCRW_r;
+    int16_t mc_th_LBTFM_f;
+    int16_t mc_th_LBTFM_r;
+    int16_t mc_th_RFTFM_f;
+    int16_t mc_th_RFTFM_r;
+    int16_t mc_th_WINCH_f;
+    int16_t mc_th_WINCH_r;
+    int16_t mc_th_CMPAN_f;
+    int16_t mc_th_CMPAN_r;
+    int16_t mc_th_CTILT_f;
+    int16_t mc_th_CTILT_r;
+    
+    int32_t mc_abs_pct;
+    
+    float   _cnt_now;
+    float   _cnt_center; 
+    int     _cnt_th;
+    
+    bool motor_lock_flg;
+
+    mcchk();
+    void set_init_mc( int );
+    bool rdnchk_motorCurrent( int8_t, int8_t, int8_t );
+    bool chk_motor_lock( float, float, int );
+    float mcchk::rd_motorCurrent( int no );
+};