2017 hongo b team
Dependencies: Alpha_Movements BoolProcess DataCaller mbed
ArrowShooter.cpp
- Committer:
- Komazawa_sun
- Date:
- 2017-09-08
- Revision:
- 0:7318c0dde997
File content as of revision 0:7318c0dde997:
#include "ArrowShooter.h" ArrowShooter::ArrowShooter(I2C *_master, double _strt_inval) : to_slave(alpha_a::sht_pwr, alpha_a::unsig, alpha_a::s2_addr, _master), _MD(&i2c_md), motor(_MD, _strt_inval) { time.reset(); time.start(); } double ArrowShooter::fire() { if(2.5 > time.read()) { //printf("ypaaa!!"); set_pwm(1.0); } else if(3.8 > time.read()) { set_pwm(0.0); } else { time.reset(); } printf("%d\r\n",i2c_md.get_output()); return time.read(); } void ArrowShooter::set_pwm(double pwm, double inval) { motor.reform_inval(inval); motor.drive(pwm); to_slave.write((uint8_t)i2c_md.get_output()); }