gein_bitton_change
Fork of petbottle_Loading by
petbottleLoading.h@2:7fc5c9527580, 2018-10-13 (annotated)
- Committer:
- skouki
- Date:
- Sat Oct 13 06:33:32 2018 +0000
- Revision:
- 2:7fc5c9527580
- Parent:
- 1:6cdfc10c7b1d
gein change
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
tanabe2000 | 0:890f901f4898 | 1 | #ifndef PETBOTTLE_LOADING_H |
tanabe2000 | 0:890f901f4898 | 2 | #define PETBOTTLE_LOADING_H |
tanabe2000 | 0:890f901f4898 | 3 | #include "ikarashiMDC.h" |
tanabe2000 | 0:890f901f4898 | 4 | #include "PID.h" |
tanabe2000 | 0:890f901f4898 | 5 | #include "QEI.h" |
tanabe2000 | 0:890f901f4898 | 6 | #include"pin_config.h" |
tanabe2000 | 0:890f901f4898 | 7 | |
tanabe2000 | 1:6cdfc10c7b1d | 8 | #define loadingKP 30.0 |
tanabe2000 | 1:6cdfc10c7b1d | 9 | #define loadingKI 0.0 |
tanabe2000 | 1:6cdfc10c7b1d | 10 | #define loadingKD 0.0 |
tanabe2000 | 0:890f901f4898 | 11 | #define RATE 0.01 |
tanabe2000 | 0:890f901f4898 | 12 | |
tanabe2000 | 0:890f901f4898 | 13 | |
tanabe2000 | 0:890f901f4898 | 14 | /** |
tanabe2000 | 0:890f901f4898 | 15 | * 装填・発射機構用クラス |
tanabe2000 | 0:890f901f4898 | 16 | */ |
tanabe2000 | 0:890f901f4898 | 17 | class petbottleLoading |
tanabe2000 | 0:890f901f4898 | 18 | { |
tanabe2000 | 0:890f901f4898 | 19 | public: |
tanabe2000 | 0:890f901f4898 | 20 | /** |
tanabe2000 | 0:890f901f4898 | 21 | * デフォルトコンストラクタ |
tanabe2000 | 0:890f901f4898 | 22 | */ |
tanabe2000 | 0:890f901f4898 | 23 | petbottleLoading(); |
tanabe2000 | 0:890f901f4898 | 24 | |
tanabe2000 | 0:890f901f4898 | 25 | /** |
tanabe2000 | 0:890f901f4898 | 26 | * |
tanabe2000 | 0:890f901f4898 | 27 | * @0:最初の位置 |
tanabe2000 | 0:890f901f4898 | 28 | * @1:発射機構1まで移動モード |
tanabe2000 | 0:890f901f4898 | 29 | * @2:発射機構2まで移動モード |
tanabe2000 | 0:890f901f4898 | 30 | * @3:装填して原点に戻りボトルを落とすモード |
tanabe2000 | 0:890f901f4898 | 31 | */ |
tanabe2000 | 0:890f901f4898 | 32 | void petbottlemode(int loadingmode); |
tanabe2000 | 0:890f901f4898 | 33 | |
tanabe2000 | 0:890f901f4898 | 34 | /** |
tanabe2000 | 0:890f901f4898 | 35 | *装填機構状態表示 |
tanabe2000 | 0:890f901f4898 | 36 | * @0 : 装填中~~ |
tanabe2000 | 0:890f901f4898 | 37 | * @1 : 装填完了! |
tanabe2000 | 0:890f901f4898 | 38 | */ |
tanabe2000 | 0:890f901f4898 | 39 | int state(); |
tanabe2000 | 0:890f901f4898 | 40 | |
tanabe2000 | 0:890f901f4898 | 41 | int LoadingEncoder(); |
tanabe2000 | 0:890f901f4898 | 42 | |
skouki | 2:7fc5c9527580 | 43 | void limit_sw(); |
tanabe2000 | 0:890f901f4898 | 44 | |
tanabe2000 | 0:890f901f4898 | 45 | private: |
tanabe2000 | 0:890f901f4898 | 46 | /*装填機構*/ |
tanabe2000 | 0:890f901f4898 | 47 | void loadingasenble(); |
tanabe2000 | 0:890f901f4898 | 48 | ikarashiMDC* petbottledrop; |
tanabe2000 | 0:890f901f4898 | 49 | ikarashiMDC* petbotleslider; |
tanabe2000 | 0:890f901f4898 | 50 | ikarashiMDC* petbottleIn; |
tanabe2000 | 0:890f901f4898 | 51 | Serial RS485; |
tanabe2000 | 0:890f901f4898 | 52 | DigitalOut RS485control; |
tanabe2000 | 0:890f901f4898 | 53 | |
tanabe2000 | 0:890f901f4898 | 54 | double petbottledropPwm, petbotlesliderPwm, petbottleInPwm; |
tanabe2000 | 0:890f901f4898 | 55 | PID loadingPid; |
tanabe2000 | 0:890f901f4898 | 56 | QEI loadingencoder; |
tanabe2000 | 0:890f901f4898 | 57 | InterruptIn limitSW1_,limitSW2_,limitSW3_; |
tanabe2000 | 0:890f901f4898 | 58 | int limitSW1,limitSW2,limitSW3; |
tanabe2000 | 0:890f901f4898 | 59 | bool limitSwFlag[3],limitSwFlag2[3], limitStatus[3]; |
tanabe2000 | 0:890f901f4898 | 60 | int nowPals, loadingDistance, pullDistanceOfset; |
tanabe2000 | 0:890f901f4898 | 61 | double Output_PID; |
tanabe2000 | 0:890f901f4898 | 62 | int loadingmode; |
tanabe2000 | 0:890f901f4898 | 63 | bool sw5flag; |
tanabe2000 | 0:890f901f4898 | 64 | |
tanabe2000 | 0:890f901f4898 | 65 | /*受信系*/ |
tanabe2000 | 0:890f901f4898 | 66 | bool receiveSuccessed; |
tanabe2000 | 1:6cdfc10c7b1d | 67 | // Serial debug; |
tanabe2000 | 0:890f901f4898 | 68 | Timer pt; |
tanabe2000 | 0:890f901f4898 | 69 | float pdt; |
skouki | 2:7fc5c9527580 | 70 | |
tanabe2000 | 0:890f901f4898 | 71 | |
tanabe2000 | 0:890f901f4898 | 72 | }; |
tanabe2000 | 0:890f901f4898 | 73 | |
tanabe2000 | 0:890f901f4898 | 74 | |
tanabe2000 | 0:890f901f4898 | 75 | |
tanabe2000 | 0:890f901f4898 | 76 | #endif |