Project Paint / Mbed 2 deprecated arm_control

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Dependencies:   mbed QEI biquadFilter

robot.h@3:1f47375270c5, 2016-11-02 (annotated)

Committer:
ronvbree
Date:
Wed Nov 02 09:10:43 2016 +0000
Revision:
3:1f47375270c5
Parent:
2:fc869e45e672
Child:
7:a80cb6b06320
abcdefgj

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ronvbree 2:fc869e45e672 1 #include "arm.h"
ronvbree 2:fc869e45e672 2
ronvbree 2:fc869e45e672 3 class Robot {
ronvbree 2:fc869e45e672 4 private:
ronvbree 2:fc869e45e672 5 // Arms
ronvbree 2:fc869e45e672 6 Arm upperArm;
ronvbree 2:fc869e45e672 7 Arm lowerArm;
ronvbree 2:fc869e45e672 8 // Roller position
ronvbree 2:fc869e45e672 9 float x;
ronvbree 2:fc869e45e672 10 float y;
ronvbree 2:fc869e45e672 11 // Ticker
ronvbree 2:fc869e45e672 12 Ticker ticker;
ronvbree 2:fc869e45e672 13 // Safety button
ronvbree 2:fc869e45e672 14 InterruptIn killButton;
ronvbree 2:fc869e45e672 15
ronvbree 2:fc869e45e672 16 void doTick();
ronvbree 2:fc869e45e672 17
ronvbree 2:fc869e45e672 18 public:
ronvbree 2:fc869e45e672 19 Robot();
ronvbree 2:fc869e45e672 20 // void setX(float x);
ronvbree 2:fc869e45e672 21 // void setY(float y);
ronvbree 2:fc869e45e672 22 // Move only on the x axis
ronvbree 2:fc869e45e672 23 void moveX(float dx);
ronvbree 2:fc869e45e672 24 // Move only on the y axis
ronvbree 2:fc869e45e672 25 void moveY(float dy);
ronvbree 2:fc869e45e672 26 // Set arm lengths
ronvbree 2:fc869e45e672 27 // void setArms(float upper, float lower);
ronvbree 3:1f47375270c5 28 // Get upper arm length
ronvbree 3:1f47375270c5 29 float getUpperArmLength();
ronvbree 3:1f47375270c5 30 // Get lower arm length
ronvbree 3:1f47375270c5 31 float getLowerArmLength();
ronvbree 2:fc869e45e672 32 // Set upper arm velocity
ronvbree 2:fc869e45e672 33 void setUpperArmVelocity(float referenceVelocity);
ronvbree 2:fc869e45e672 34 // Set lower arm velocity
ronvbree 2:fc869e45e672 35 void setLowerArmVelocity(float referenceVelocity);
ronvbree 2:fc869e45e672 36 // Safety shutdown
ronvbree 2:fc869e45e672 37 void kill();
ronvbree 2:fc869e45e672 38
ronvbree 2:fc869e45e672 39 };
ronvbree 2:fc869e45e672 40
ronvbree 2:fc869e45e672 41
ronvbree 2:fc869e45e672 42