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petbottleLoading.h
00001 #ifndef PETBOTTLE_LOADING_H 00002 #define PETBOTTLE_LOADING_H 00003 #include "ikarashiMDC.h" 00004 #include "PID.h" 00005 #include "QEI.h" 00006 #include "pin_config.h" 00007 //#include "controller.h" 00008 00009 #define loadingKP 29.0 00010 #define loadingKI 0 00011 #define loadingKD 0.0 00012 #define RATE 0.01 00013 /** 00014 * 装填・発射機構用クラス 00015 */ 00016 class petbottleLoading 00017 { 00018 public: 00019 /** 00020 * デフォルトコンストラクタ 00021 */ 00022 petbottleLoading(); 00023 00024 /** 00025 * 00026 * @0:最初の位置 00027 * @1:発射機構1まで移動モード 00028 * @2:発射機構2まで移動モード 00029 * @3:装填して原点に戻りボトルを落とすモード 00030 */ 00031 void petbottlemode(int loadingmode); 00032 00033 /** 00034 *装填機構状態表示 00035 * @0 : 装填中~~ 00036 * @1 : 装填完了! 00037 */ 00038 int state(); 00039 int LoadingEncoder(); 00040 00041 private: 00042 /*装填機構*/ 00043 void loadingasenble(); 00044 ikarashiMDC* petbottledrop; 00045 ikarashiMDC* petbotleslider; 00046 ikarashiMDC* petbottleIn; 00047 Serial RS485; 00048 DigitalOut RS485control; 00049 00050 double petbottledropPwm, petbotlesliderPwm, petbottleInPwm; 00051 PID loadingPid; 00052 QEI loadingencoder; 00053 InterruptIn limitSW1_,limitSW2_,limitSW3_; 00054 int limitSW1,limitSW2,limitSW3; 00055 bool limitSwFlag[3],limitSwFlag2[3], limitStatus[3]; 00056 int nowPals, loadingDistance, pullDistanceOfset; 00057 double Output_PID; 00058 int loadingmode; 00059 bool sw5flag; 00060 00061 /*受信系*/ 00062 // Controller con; 00063 bool receiveSuccessed; 00064 Serial debug; 00065 Timer pt; 00066 float pdt; 00067 00068 00069 }; 00070 00071 00072 00073 #endif
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