Colour sensors calibrated
Dependencies: mbed-rtos mbed Servo QEI
Fork of ICRSEurobot13 by
Actuators/Actuator.h@2:45da48fab346, 2013-03-29 (annotated)
- Committer:
- twighk
- Date:
- Fri Mar 29 20:09:21 2013 +0000
- Revision:
- 2:45da48fab346
- Child:
- 4:1be0f6c6ceae
Emergency Stop Button, Derive all actuator classes from the base class, and implement a virtual halt function that releases power from them
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
twighk | 2:45da48fab346 | 1 | #ifndef __Actuator_h__ |
twighk | 2:45da48fab346 | 2 | #define __Actuator_h__ |
twighk | 2:45da48fab346 | 3 | // Eurobot13 Actuator.h |
twighk | 2:45da48fab346 | 4 | |
twighk | 2:45da48fab346 | 5 | #include "mbed.h" |
twighk | 2:45da48fab346 | 6 | |
twighk | 2:45da48fab346 | 7 | class Actuator { |
twighk | 2:45da48fab346 | 8 | private: |
twighk | 2:45da48fab346 | 9 | static Actuator *Head; |
twighk | 2:45da48fab346 | 10 | Actuator *next; |
twighk | 2:45da48fab346 | 11 | |
twighk | 2:45da48fab346 | 12 | public: |
twighk | 2:45da48fab346 | 13 | Actuator(){ |
twighk | 2:45da48fab346 | 14 | next = NULL; |
twighk | 2:45da48fab346 | 15 | if (Head == NULL){ |
twighk | 2:45da48fab346 | 16 | Head = this; |
twighk | 2:45da48fab346 | 17 | } else { |
twighk | 2:45da48fab346 | 18 | Actuator* nxt = Head; |
twighk | 2:45da48fab346 | 19 | for(;nxt->next != NULL; nxt = nxt->next); |
twighk | 2:45da48fab346 | 20 | nxt->next = this; |
twighk | 2:45da48fab346 | 21 | } |
twighk | 2:45da48fab346 | 22 | } |
twighk | 2:45da48fab346 | 23 | |
twighk | 2:45da48fab346 | 24 | virtual void halt (void) = 0; |
twighk | 2:45da48fab346 | 25 | |
twighk | 2:45da48fab346 | 26 | static void haltandCatchFire(void){ |
twighk | 2:45da48fab346 | 27 | //halt |
twighk | 2:45da48fab346 | 28 | for(Actuator* nxt = Head; nxt != NULL; nxt = nxt->next){ |
twighk | 2:45da48fab346 | 29 | nxt->halt(); |
twighk | 2:45da48fab346 | 30 | } |
twighk | 2:45da48fab346 | 31 | DigitalOut myled(LED1); |
twighk | 2:45da48fab346 | 32 | myled = 1; |
twighk | 2:45da48fab346 | 33 | |
twighk | 2:45da48fab346 | 34 | //catchFire |
twighk | 2:45da48fab346 | 35 | while(true); |
twighk | 2:45da48fab346 | 36 | } |
twighk | 2:45da48fab346 | 37 | |
twighk | 2:45da48fab346 | 38 | |
twighk | 2:45da48fab346 | 39 | }; |
twighk | 2:45da48fab346 | 40 | |
twighk | 2:45da48fab346 | 41 | #endif |