File content as of revision 1:85e8e2c8f283:

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 );
};