Shinya Matsuyama / Mbed OS MF_FUJIKO_BASE

update from matsu

Dependencies:   libTCS34725

DoorController.h@0:bed71d1853ef, 2019-01-30 (annotated)

Committer:
poipoi
Date:
Wed Jan 30 05:20:36 2019 +0000
Revision:
0:bed71d1853ef
First Commit

Who changed what in which revision?

UserRevisionLine numberNew contents of line
poipoi 0:bed71d1853ef 1 #pragma once
poipoi 0:bed71d1853ef 2
poipoi 0:bed71d1853ef 3 #include "mbed.h"
poipoi 0:bed71d1853ef 4 #include "I2CMotorDriver.h"
poipoi 0:bed71d1853ef 5
poipoi 0:bed71d1853ef 6 class DoorController {
poipoi 0:bed71d1853ef 7 public:
poipoi 0:bed71d1853ef 8 enum DoorState {
poipoi 0:bed71d1853ef 9 DOOR_OPENED,
poipoi 0:bed71d1853ef 10 DOOR_CLOSED,
poipoi 0:bed71d1853ef 11 };
poipoi 0:bed71d1853ef 12 I2CMotorDriver* p_motor;
poipoi 0:bed71d1853ef 13 DoorState state;
poipoi 0:bed71d1853ef 14
poipoi 0:bed71d1853ef 15 DoorController(I2CMotorDriver& motor) {
poipoi 0:bed71d1853ef 16 p_motor = &motor;
poipoi 0:bed71d1853ef 17 state = DOOR_CLOSED;
poipoi 0:bed71d1853ef 18 }
poipoi 0:bed71d1853ef 19
poipoi 0:bed71d1853ef 20 void open() {
poipoi 0:bed71d1853ef 21 if (state == DOOR_OPENED) return;
poipoi 0:bed71d1853ef 22
poipoi 0:bed71d1853ef 23 p_motor->step(-45, 1, 1);
poipoi 0:bed71d1853ef 24 state = DOOR_OPENED;
poipoi 0:bed71d1853ef 25 }
poipoi 0:bed71d1853ef 26
poipoi 0:bed71d1853ef 27 void close() {
poipoi 0:bed71d1853ef 28 if (state == DOOR_CLOSED) return;
poipoi 0:bed71d1853ef 29
poipoi 0:bed71d1853ef 30 p_motor->step(50, 1, 1);
poipoi 0:bed71d1853ef 31 state = DOOR_CLOSED;
poipoi 0:bed71d1853ef 32 }
poipoi 0:bed71d1853ef 33
poipoi 0:bed71d1853ef 34 void forceClose() {
poipoi 0:bed71d1853ef 35 p_motor->step(100, 1, 1);
poipoi 0:bed71d1853ef 36 state = DOOR_CLOSED;
poipoi 0:bed71d1853ef 37 }
poipoi 0:bed71d1853ef 38 };