Project Paint / Mbed 2 deprecated arm_control

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Dependencies:   mbed QEI biquadFilter

robot.h@7:a80cb6b06320, 2016-11-02 (annotated)

Committer:
ronvbree
Date:
Wed Nov 02 16:29:13 2016 +0000
Revision:
7:a80cb6b06320
Parent:
3:1f47375270c5
Child:
12:8295c02d740f
zyxvw

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ronvbree 2:fc869e45e672 1 #include "arm.h"
ronvbree 7:a80cb6b06320 2 #include "PID_controller.h"
ronvbree 7:a80cb6b06320 3 #include "geometry.h"
ronvbree 2:fc869e45e672 4
ronvbree 2:fc869e45e672 5 class Robot {
ronvbree 2:fc869e45e672 6 private:
ronvbree 2:fc869e45e672 7 // Arms
ronvbree 2:fc869e45e672 8 Arm upperArm;
ronvbree 2:fc869e45e672 9 Arm lowerArm;
ronvbree 7:a80cb6b06320 10
ronvbree 7:a80cb6b06320 11 // Safety first!
ronvbree 7:a80cb6b06320 12 volatile bool killed;
ronvbree 2:fc869e45e672 13
ronvbree 2:fc869e45e672 14 public:
ronvbree 7:a80cb6b06320 15 // Constructor
ronvbree 2:fc869e45e672 16 Robot();
ronvbree 7:a80cb6b06320 17 // Update arms
ronvbree 7:a80cb6b06320 18 void update();
ronvbree 3:1f47375270c5 19 // Get upper arm length
ronvbree 3:1f47375270c5 20 float getUpperArmLength();
ronvbree 3:1f47375270c5 21 // Get lower arm length
ronvbree 3:1f47375270c5 22 float getLowerArmLength();
ronvbree 2:fc869e45e672 23 // Set upper arm velocity
ronvbree 2:fc869e45e672 24 void setUpperArmVelocity(float referenceVelocity);
ronvbree 2:fc869e45e672 25 // Set lower arm velocity
ronvbree 2:fc869e45e672 26 void setLowerArmVelocity(float referenceVelocity);
ronvbree 2:fc869e45e672 27 // Safety shutdown
ronvbree 2:fc869e45e672 28 void kill();
ronvbree 7:a80cb6b06320 29 bool isKilled();
ronvbree 2:fc869e45e672 30
ronvbree 2:fc869e45e672 31 };
ronvbree 2:fc869e45e672 32
ronvbree 2:fc869e45e672 33
ronvbree 2:fc869e45e672 34