Diff: petbottleLoading.h

Revision:

0:890f901f4898

Child:

1:6cdfc10c7b1d

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/petbottleLoading.h	Thu Oct 04 11:43:22 2018 +0000
@@ -0,0 +1,75 @@
+#ifndef PETBOTTLE_LOADING_H
+#define PETBOTTLE_LOADING_H
+#include "ikarashiMDC.h"
+#include "PID.h"
+#include "QEI.h"
+#include"pin_config.h"
+
+#define loadingKP 8.0
+#define loadingKI 0
+#define loadingKD 0.0000001
+#define RATE 0.01
+
+
+/**
+ * 装填・発射機構用クラス
+ */
+class petbottleLoading
+{
+public:
+    /**
+    * デフォルトコンストラクタ
+    */
+    petbottleLoading();
+
+    /**
+     *
+     * @0:最初の位置
+     * @1:発射機構１まで移動モード
+     * @2:発射機構２まで移動モード
+     * @3:装填して原点に戻りボトルを落とすモード
+     */
+    void petbottlemode(int loadingmode);
+
+    /**
+     *装填機構状態表示
+     * @0 : 装填中～～
+     * @1 : 装填完了！
+     */
+    int state();
+    
+    int LoadingEncoder();
+
+
+private:
+    /*装填機構*/
+    void loadingasenble();
+    ikarashiMDC* petbottledrop;
+    ikarashiMDC* petbotleslider;
+    ikarashiMDC* petbottleIn;
+    Serial RS485;
+    DigitalOut RS485control;
+
+    double petbottledropPwm, petbotlesliderPwm, petbottleInPwm;
+    PID loadingPid;
+    QEI loadingencoder;
+    InterruptIn limitSW1_,limitSW2_,limitSW3_;
+    int limitSW1,limitSW2,limitSW3;
+    bool limitSwFlag[3],limitSwFlag2[3], limitStatus[3];
+    int nowPals, loadingDistance, pullDistanceOfset;
+    double Output_PID;
+    int loadingmode;
+    bool sw5flag;
+    
+    /*受信系*/
+    bool receiveSuccessed;
+    Serial debug;
+    Timer pt;
+    float pdt;
+
+
+};
+
+
+
+#endif