Project Paint / Mbed 2 deprecated arm_control

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Dependencies:   mbed QEI biquadFilter

robot.h@2:fc869e45e672, 2016-11-02 (annotated)

Committer:
ronvbree
Date:
Wed Nov 02 08:51:12 2016 +0000
Revision:
2:fc869e45e672
Child:
3:1f47375270c5
abcdg

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 2:fc869e45e672 28 // Set upper arm velocity
ronvbree 2:fc869e45e672 29 void setUpperArmVelocity(float referenceVelocity);
ronvbree 2:fc869e45e672 30 // Set lower arm velocity
ronvbree 2:fc869e45e672 31 void setLowerArmVelocity(float referenceVelocity);
ronvbree 2:fc869e45e672 32 // Safety shutdown
ronvbree 2:fc869e45e672 33 void kill();
ronvbree 2:fc869e45e672 34
ronvbree 2:fc869e45e672 35 };
ronvbree 2:fc869e45e672 36
ronvbree 2:fc869e45e672 37
ronvbree 2:fc869e45e672 38