2017 hongo b team
Dependencies: Alpha_Movements BoolProcess DataCaller mbed
ArrowShooter.cpp@0:7318c0dde997, 2017-09-08 (annotated)
- Committer:
- Komazawa_sun
- Date:
- Fri Sep 08 03:58:36 2017 +0000
- Revision:
- 0:7318c0dde997
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Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Komazawa_sun | 0:7318c0dde997 | 1 | #include "ArrowShooter.h" |
Komazawa_sun | 0:7318c0dde997 | 2 | |
Komazawa_sun | 0:7318c0dde997 | 3 | ArrowShooter::ArrowShooter(I2C *_master, double _strt_inval) |
Komazawa_sun | 0:7318c0dde997 | 4 | : to_slave(alpha_a::sht_pwr, alpha_a::unsig, alpha_a::s2_addr, _master), |
Komazawa_sun | 0:7318c0dde997 | 5 | _MD(&i2c_md), |
Komazawa_sun | 0:7318c0dde997 | 6 | motor(_MD, _strt_inval) |
Komazawa_sun | 0:7318c0dde997 | 7 | { |
Komazawa_sun | 0:7318c0dde997 | 8 | time.reset(); |
Komazawa_sun | 0:7318c0dde997 | 9 | time.start(); |
Komazawa_sun | 0:7318c0dde997 | 10 | } |
Komazawa_sun | 0:7318c0dde997 | 11 | |
Komazawa_sun | 0:7318c0dde997 | 12 | double ArrowShooter::fire() |
Komazawa_sun | 0:7318c0dde997 | 13 | { |
Komazawa_sun | 0:7318c0dde997 | 14 | |
Komazawa_sun | 0:7318c0dde997 | 15 | if(2.5 > time.read()) |
Komazawa_sun | 0:7318c0dde997 | 16 | { |
Komazawa_sun | 0:7318c0dde997 | 17 | //printf("ypaaa!!"); |
Komazawa_sun | 0:7318c0dde997 | 18 | set_pwm(1.0); |
Komazawa_sun | 0:7318c0dde997 | 19 | } |
Komazawa_sun | 0:7318c0dde997 | 20 | else if(3.8 > time.read()) |
Komazawa_sun | 0:7318c0dde997 | 21 | { |
Komazawa_sun | 0:7318c0dde997 | 22 | set_pwm(0.0); |
Komazawa_sun | 0:7318c0dde997 | 23 | } |
Komazawa_sun | 0:7318c0dde997 | 24 | else |
Komazawa_sun | 0:7318c0dde997 | 25 | { |
Komazawa_sun | 0:7318c0dde997 | 26 | time.reset(); |
Komazawa_sun | 0:7318c0dde997 | 27 | } |
Komazawa_sun | 0:7318c0dde997 | 28 | |
Komazawa_sun | 0:7318c0dde997 | 29 | |
Komazawa_sun | 0:7318c0dde997 | 30 | printf("%d\r\n",i2c_md.get_output()); |
Komazawa_sun | 0:7318c0dde997 | 31 | |
Komazawa_sun | 0:7318c0dde997 | 32 | return time.read(); |
Komazawa_sun | 0:7318c0dde997 | 33 | |
Komazawa_sun | 0:7318c0dde997 | 34 | } |
Komazawa_sun | 0:7318c0dde997 | 35 | |
Komazawa_sun | 0:7318c0dde997 | 36 | void ArrowShooter::set_pwm(double pwm, double inval) |
Komazawa_sun | 0:7318c0dde997 | 37 | { |
Komazawa_sun | 0:7318c0dde997 | 38 | motor.reform_inval(inval); |
Komazawa_sun | 0:7318c0dde997 | 39 | motor.drive(pwm); |
Komazawa_sun | 0:7318c0dde997 | 40 | to_slave.write((uint8_t)i2c_md.get_output()); |
Komazawa_sun | 0:7318c0dde997 | 41 | } |