Shinya Matsuyama
/
MF_FUJIKO_BASE
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Diff: DoorController.h
- Revision:
- 0:bed71d1853ef
diff -r 000000000000 -r bed71d1853ef DoorController.h
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/DoorController.h Wed Jan 30 05:20:36 2019 +0000
@@ -0,0 +1,38 @@
+#pragma once
+
+#include "mbed.h"
+#include "I2CMotorDriver.h"
+
+class DoorController {
+public:
+ enum DoorState {
+ DOOR_OPENED,
+ DOOR_CLOSED,
+ };
+ I2CMotorDriver* p_motor;
+ DoorState state;
+
+ DoorController(I2CMotorDriver& motor) {
+ p_motor = &motor;
+ state = DOOR_CLOSED;
+ }
+
+ void open() {
+ if (state == DOOR_OPENED) return;
+
+ p_motor->step(-45, 1, 1);
+ state = DOOR_OPENED;
+ }
+
+ void close() {
+ if (state == DOOR_CLOSED) return;
+
+ p_motor->step(50, 1, 1);
+ state = DOOR_CLOSED;
+ }
+
+ void forceClose() {
+ p_motor->step(100, 1, 1);
+ state = DOOR_CLOSED;
+ }
+};