Diff: ControlleurPince/ControlleurPince.h

Revision:

92:f09f55aa992b

Child:

93:c0b040954eac

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ControlleurPince/ControlleurPince.h	Fri May 06 15:25:21 2016 +0000
@@ -0,0 +1,33 @@
+#ifndef CONTROLLEUR_PINCE_H
+#define CONTROLLEUR_PINCE_H
+
+//#include "defines.h"
+#include "Stepper.h"
+#include "mbed.h"
+
+class ControlleurPince
+{
+    
+    public:
+    
+        ControlleurPince(Stepper &p_RMot, Stepper &p_ZMot, Stepper &p_LMot, DigitalIn &p_EnR, DigitalIn &p_EnZ, DigitalIn &p_EnL, AX12 &_Lax12, AX12 &_Rax12);
+        
+        void init();
+        void home(bool r=true, bool z=true, bool l=true);
+        void setPos(float z, float delta, float center = -600);
+        
+        void close();
+        void open();
+    
+    private:
+    
+        Stepper &RMot, &ZMot, &LMot;
+        
+        DigitalIn &EnR, &EnZ, &EnL;
+        
+        AX12 &Lax12, &Rax12;
+        
+        float pos_r,pos_z,pos_l;
+};
+
+#endif