naoki tanabe / petbottle_Loadin5port

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petbottleLoading.h@0:b412810ae2db, 2018-10-12 (annotated)

Committer:
tanabe2000
Date:
Fri Oct 12 04:38:22 2018 +0000
Revision:
0:b412810ae2db
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tanabe2000 0:b412810ae2db 1 #ifndef PETBOTTLE_LOADING_H
tanabe2000 0:b412810ae2db 2 #define PETBOTTLE_LOADING_H
tanabe2000 0:b412810ae2db 3 #include "ikarashiMDC.h"
tanabe2000 0:b412810ae2db 4 #include "PID.h"
tanabe2000 0:b412810ae2db 5 #include "QEI.h"
tanabe2000 0:b412810ae2db 6 #include "pin_config.h"
tanabe2000 0:b412810ae2db 7 //#include "controller.h"
tanabe2000 0:b412810ae2db 8
tanabe2000 0:b412810ae2db 9 #define loadingKP 29.0
tanabe2000 0:b412810ae2db 10 #define loadingKI 0
tanabe2000 0:b412810ae2db 11 #define loadingKD 0.0
tanabe2000 0:b412810ae2db 12 #define RATE 0.01
tanabe2000 0:b412810ae2db 13 /**
tanabe2000 0:b412810ae2db 14 * 装填・発射機構用クラス
tanabe2000 0:b412810ae2db 15 */
tanabe2000 0:b412810ae2db 16 class petbottleLoading
tanabe2000 0:b412810ae2db 17 {
tanabe2000 0:b412810ae2db 18 public:
tanabe2000 0:b412810ae2db 19 /**
tanabe2000 0:b412810ae2db 20 * デフォルトコンストラクタ
tanabe2000 0:b412810ae2db 21 */
tanabe2000 0:b412810ae2db 22 petbottleLoading();
tanabe2000 0:b412810ae2db 23
tanabe2000 0:b412810ae2db 24 /**
tanabe2000 0:b412810ae2db 25 *
tanabe2000 0:b412810ae2db 26 * @0:最初の位置
tanabe2000 0:b412810ae2db 27 * @1:発射機構１まで移動モード
tanabe2000 0:b412810ae2db 28 * @2:発射機構２まで移動モード
tanabe2000 0:b412810ae2db 29 * @3:装填して原点に戻りボトルを落とすモード
tanabe2000 0:b412810ae2db 30 */
tanabe2000 0:b412810ae2db 31 void petbottlemode(int loadingmode);
tanabe2000 0:b412810ae2db 32
tanabe2000 0:b412810ae2db 33 /**
tanabe2000 0:b412810ae2db 34 *装填機構状態表示
tanabe2000 0:b412810ae2db 35 * @0 : 装填中～～
tanabe2000 0:b412810ae2db 36 * @1 : 装填完了！
tanabe2000 0:b412810ae2db 37 */
tanabe2000 0:b412810ae2db 38 int state();
tanabe2000 0:b412810ae2db 39 int LoadingEncoder();
tanabe2000 0:b412810ae2db 40
tanabe2000 0:b412810ae2db 41 private:
tanabe2000 0:b412810ae2db 42 /*装填機構*/
tanabe2000 0:b412810ae2db 43 void loadingasenble();
tanabe2000 0:b412810ae2db 44 ikarashiMDC* petbottledrop;
tanabe2000 0:b412810ae2db 45 ikarashiMDC* petbotleslider;
tanabe2000 0:b412810ae2db 46 ikarashiMDC* petbottleIn;
tanabe2000 0:b412810ae2db 47 Serial RS485;
tanabe2000 0:b412810ae2db 48 DigitalOut RS485control;
tanabe2000 0:b412810ae2db 49
tanabe2000 0:b412810ae2db 50 double petbottledropPwm, petbotlesliderPwm, petbottleInPwm;
tanabe2000 0:b412810ae2db 51 PID loadingPid;
tanabe2000 0:b412810ae2db 52 QEI loadingencoder;
tanabe2000 0:b412810ae2db 53 InterruptIn limitSW1_,limitSW2_,limitSW3_;
tanabe2000 0:b412810ae2db 54 int limitSW1,limitSW2,limitSW3;
tanabe2000 0:b412810ae2db 55 bool limitSwFlag[3],limitSwFlag2[3], limitStatus[3];
tanabe2000 0:b412810ae2db 56 int nowPals, loadingDistance, pullDistanceOfset;
tanabe2000 0:b412810ae2db 57 double Output_PID;
tanabe2000 0:b412810ae2db 58 int loadingmode;
tanabe2000 0:b412810ae2db 59 bool sw5flag;
tanabe2000 0:b412810ae2db 60
tanabe2000 0:b412810ae2db 61 /*受信系*/
tanabe2000 0:b412810ae2db 62 // Controller con;
tanabe2000 0:b412810ae2db 63 bool receiveSuccessed;
tanabe2000 0:b412810ae2db 64 Serial debug;
tanabe2000 0:b412810ae2db 65 Timer pt;
tanabe2000 0:b412810ae2db 66 float pdt;
tanabe2000 0:b412810ae2db 67
tanabe2000 0:b412810ae2db 68
tanabe2000 0:b412810ae2db 69 };
tanabe2000 0:b412810ae2db 70
tanabe2000 0:b412810ae2db 71
tanabe2000 0:b412810ae2db 72
tanabe2000 0:b412810ae2db 73 #endif