gein_bitton_change
Fork of petbottle_Loading by
petbottleLoading.h
- Committer:
- skouki
- Date:
- 2018-10-13
- Revision:
- 2:7fc5c9527580
- Parent:
- 1:6cdfc10c7b1d
File content as of revision 2:7fc5c9527580:
#ifndef PETBOTTLE_LOADING_H #define PETBOTTLE_LOADING_H #include "ikarashiMDC.h" #include "PID.h" #include "QEI.h" #include"pin_config.h" #define loadingKP 30.0 #define loadingKI 0.0 #define loadingKD 0.0 #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(); void limit_sw(); 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