Kouki Suzuki / petbottle_Loading

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Fork of petbottle_Loading by naoki tanabe

petbottleLoading.h@0:890f901f4898, 2018-10-04 (annotated)

Committer:
tanabe2000
Date:
Thu Oct 04 11:43:22 2018 +0000
Revision:
0:890f901f4898
Child:
1:6cdfc10c7b1d
?????????

Who changed what in which revision?

UserRevisionLine numberNew 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 0:890f901f4898 8 #define loadingKP 8.0
tanabe2000 0:890f901f4898 9 #define loadingKI 0
tanabe2000 0:890f901f4898 10 #define loadingKD 0.0000001
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
tanabe2000 0:890f901f4898 43
tanabe2000 0:890f901f4898 44 private:
tanabe2000 0:890f901f4898 45 /*装填機構*/
tanabe2000 0:890f901f4898 46 void loadingasenble();
tanabe2000 0:890f901f4898 47 ikarashiMDC* petbottledrop;
tanabe2000 0:890f901f4898 48 ikarashiMDC* petbotleslider;
tanabe2000 0:890f901f4898 49 ikarashiMDC* petbottleIn;
tanabe2000 0:890f901f4898 50 Serial RS485;
tanabe2000 0:890f901f4898 51 DigitalOut RS485control;
tanabe2000 0:890f901f4898 52
tanabe2000 0:890f901f4898 53 double petbottledropPwm, petbotlesliderPwm, petbottleInPwm;
tanabe2000 0:890f901f4898 54 PID loadingPid;
tanabe2000 0:890f901f4898 55 QEI loadingencoder;
tanabe2000 0:890f901f4898 56 InterruptIn limitSW1_,limitSW2_,limitSW3_;
tanabe2000 0:890f901f4898 57 int limitSW1,limitSW2,limitSW3;
tanabe2000 0:890f901f4898 58 bool limitSwFlag[3],limitSwFlag2[3], limitStatus[3];
tanabe2000 0:890f901f4898 59 int nowPals, loadingDistance, pullDistanceOfset;
tanabe2000 0:890f901f4898 60 double Output_PID;
tanabe2000 0:890f901f4898 61 int loadingmode;
tanabe2000 0:890f901f4898 62 bool sw5flag;
tanabe2000 0:890f901f4898 63
tanabe2000 0:890f901f4898 64 /*受信系*/
tanabe2000 0:890f901f4898 65 bool receiveSuccessed;
tanabe2000 0:890f901f4898 66 Serial debug;
tanabe2000 0:890f901f4898 67 Timer pt;
tanabe2000 0:890f901f4898 68 float pdt;
tanabe2000 0:890f901f4898 69
tanabe2000 0:890f901f4898 70
tanabe2000 0:890f901f4898 71 };
tanabe2000 0:890f901f4898 72
tanabe2000 0:890f901f4898 73
tanabe2000 0:890f901f4898 74
tanabe2000 0:890f901f4898 75 #endif