Diff: lifter.h

Revision:

0:3417ca0a36c0

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/lifter.h	Tue Jul 01 10:59:33 2014 +0000
@@ -0,0 +1,73 @@
+/******************************************************
+
+****┏┓          ┏┓
+**┏┛┻━━━━━━┛┻┓
+**┃                 ┃
+**┃      ━━━      ┃
+**┃  ┳┛       ┗┳ ┃
+**┃                 ┃
+**┃ '''    ┻   ''' ┃
+**┃                 ┃
+**┗━━┓       ┏━━┛
+*******┃       ┃
+*******┃       ┃
+*******┃       ┃
+*******┃       ┗━━━━━━━━┓
+*******┃                      ┃━┓
+*******┃      NO BUG          ┏━┛
+*******┃                      ┃
+*******┗━┓  ┓  ┏━┏━┓  ━┛
+***********┃  ┛  ┛    ┃  ┛  ┛
+***********┃  ┃  ┃    ┃  ┃  ┃
+***********┗━┛━┛     ┗━┛━┛
+
+This part is added by project ESDC2014 of CUHK team.
+All the code with this header are under GPL open source license.
+This program is running on Mbed Platform 'mbed LPC1768' avaliable in 'http://mbed.org'.
+**********************************************************/
+#include "mbed.h"
+#include "define.h"
+
+#ifndef _LIFTER_H
+#define _LIFTER_H
+
+/*
+DigitalOut lifter_enable(p23);
+PwmOut lifter_pwmUp(p21);
+PwmOut lifter_pwmDown(p22);
+DigitalIn lifter_encoder_A(p26);
+DigitalIn lifter_encoder_B(p25);
+*/
+
+//100 pulse => 8 mm
+#define RPMM 13 //pulseCount per mm
+
+class Lifter
+{
+public:
+    Lifter(MyDigitalOut* _enable, MyPwmOut* _pwmUp, MyPwmOut* _pwmDown, MyInterruptIn* encoder_A, MyDigitalIn* encoder_B);
+    ~Lifter();
+    void lifterUp(uint16_t mm);
+    void lifterDown(uint16_t mm);
+    void lifterMove(uint16_t move_dis, uint8_t move_dir, uint16_t rotate_dis, uint8_t rotate_dir);
+    uint8_t getDir();
+    uint8_t isStopped();
+    
+    uint32_t pulseCount;
+    uint32_t targetPulseCount;
+    
+    void setLifterStop();
+    void setLifterUp();
+    void setLifterDown();
+    
+private:
+    MyDigitalOut* _enable;
+    MyPwmOut* _pwmUp;
+    MyPwmOut* _pwmDown;
+    MyInterruptIn* _encoder_A; //6 pulse per round
+    MyDigitalIn* _encoder_B; //5v is up, 0v is down. looks like no use
+    uint8_t _dir;
+    uint8_t _stop; //0 means moving, 1 means stopped
+};
+
+#endif
\ No newline at end of file