mcchk.h

00001 class mcchk
00002 {
00003 private:
00004     float m_LBCRW_center_value;
00005     float m_RFCRW_center_value;
00006     float m_LBTFM_center_value;
00007     float m_RFTFM_center_value;
00008     float m_WINCH_center_value;
00009     float m_CMPAN_center_value;
00010     float m_CTILT_center_value;
00011     
00012     int8_t flg_mclock_LBCRW;    // bit0: forward, bit1: reverse 
00013     int8_t flg_mclock_RFCRW;    // bit0: forward, bit1: reverse
00014     int8_t flg_mclock_LBTFM;    // bit0: forward, bit1: reverse
00015     int8_t flg_mclock_RFTFM;    // bit0: forward, bit1: reverse 
00016     int8_t flg_mclock_CMPAN;    // bit0: forward, bit1: reverse 
00017     int8_t flg_mclock_CTILT;    // bit0: forward, bit1: reverse 
00018     int8_t flg_mclock_WINCH;    // bit0: forward, bit1: reverse 
00019 
00020 public:
00021     
00022     int8_t cnt_mclock_LBCRW_f;    // motor lock counter 
00023     int8_t cnt_mclock_LBCRW_r;    // motor lock counter 
00024     int8_t cnt_mclock_RFCRW_f;    // motor lock counter 
00025     int8_t cnt_mclock_RFCRW_r;    // motor lock counter 
00026     int8_t cnt_mclock_LBTFM_f;    // motor lock counter 
00027     int8_t cnt_mclock_LBTFM_r;    // motor lock counter 
00028     int8_t cnt_mclock_RFTFM_f;    // motor lock counter  
00029     int8_t cnt_mclock_RFTFM_r;    // motor lock counter  
00030     int8_t cnt_mclock_CMPAN_f;    // motor lock counter 
00031     int8_t cnt_mclock_CMPAN_r;    // motor lock counter 
00032     int8_t cnt_mclock_CTILT_f;    // motor lock counter 
00033     int8_t cnt_mclock_CTILT_r;    // motor lock counter 
00034     int8_t cnt_mclock_WINCH_f;    // motor lock counter  
00035     int8_t cnt_mclock_WINCH_r;    // motor lock counter  
00036 
00037 
00038     int16_t mc_th_LBCRW_f;
00039     int16_t mc_th_LBCRW_r;
00040     int16_t mc_th_RFCRW_f;
00041     int16_t mc_th_RFCRW_r;
00042     int16_t mc_th_LBTFM_f;
00043     int16_t mc_th_LBTFM_r;
00044     int16_t mc_th_RFTFM_f;
00045     int16_t mc_th_RFTFM_r;
00046     int16_t mc_th_WINCH_f;
00047     int16_t mc_th_WINCH_r;
00048     int16_t mc_th_CMPAN_f;
00049     int16_t mc_th_CMPAN_r;
00050     int16_t mc_th_CTILT_f;
00051     int16_t mc_th_CTILT_r;
00052     
00053     int32_t mc_abs_pct;
00054     
00055     float   _cnt_now;
00056     float   _cnt_center; 
00057     int     _cnt_th;
00058     
00059     bool motor_lock_flg;
00060 
00061     mcchk();
00062     void set_init_mc( int );
00063     bool rdnchk_motorCurrent( int8_t, int8_t, int8_t );
00064     bool chk_motor_lock( float, float, int );
00065     float mcchk::rd_motorCurrent( int no );
00066 };