diff options
Diffstat (limited to 'source/Concept/Framework/modules/executor')
| -rwxr-xr-x | source/Concept/Framework/modules/executor/aktuator.c | 11 | ||||
| -rwxr-xr-x | source/Concept/Framework/modules/executor/aktuator.h | 27 |
2 files changed, 38 insertions, 0 deletions
diff --git a/source/Concept/Framework/modules/executor/aktuator.c b/source/Concept/Framework/modules/executor/aktuator.c new file mode 100755 index 0000000..51dc331 --- /dev/null +++ b/source/Concept/Framework/modules/executor/aktuator.c @@ -0,0 +1,11 @@ +#include "aktuator.h"
+
+//-----------------------------------------------------------------------------
+void Aktuator::Kick()
+{
+ (parent->GetModule<Kicker>(IO_KICKER_MAIN))->SetEnabled(true);//aktivate kicker
+ (parent->GetModule<Dribbler>(IO_DRIBBLER_MAIN))->SetSpeed(-1);//aktivate dribbler reverse
+ msleep(10);//wait 100us
+ (parent->GetModule<Kicker>(IO_KICKER_MAIN))->SetEnabled(false);//deaktivate kicker
+ (parent->GetModule<Dribbler>(IO_DRIBBLER_MAIN))->SetSpeed(1);//deaktivate dribbler reverse
+}
diff --git a/source/Concept/Framework/modules/executor/aktuator.h b/source/Concept/Framework/modules/executor/aktuator.h new file mode 100755 index 0000000..9dc8684 --- /dev/null +++ b/source/Concept/Framework/modules/executor/aktuator.h @@ -0,0 +1,27 @@ +#ifndef _AKTUATOR_H
+#define _AKTUATOR_H
+
+#include "../../stdafx.h"
+
+class Aktuator : public IO_Module
+{
+public:
+ Aktuator()
+ {
+ this->parent = NULL;
+ this->moduleId = 0;
+ }
+
+ Aktuator(uint32 aktuatorId)
+ {
+ this->parent = NULL;
+ this->moduleId = aktuatorId;
+ }
+
+protected:
+
+public:
+ void Kick();
+};
+
+#endif |