Diff: arm.h

Revision:

0:494acf21d3bc

Child:

2:fc869e45e672

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/arm.h	Mon Oct 31 13:05:53 2016 +0000
@@ -0,0 +1,38 @@
+#include "mbed.h"
+
+/*
+    Constants
+*/
+
+const bool clockwise = true;
+const bool counterClockwise = false;
+
+const float motorGain = 8.4f;   // Rad/s
+const float maxVelocity = 8.4f; // Rad/s (max velocity: 80 rpm = 80*2*pi/60 = 8.4 rad/s)
+const float tick = 0.1f;        // In seconds
+const float gearRadius = 5.2f;  // In cm
+
+/*
+    Arm class
+*/
+
+class Arm {
+    private:
+        // Instance Variables
+        float length;                                                                       // Current length of the arm in centimeters
+        float velocity;                                                                     // Angular velocity in rotations per second
+        PwmOut motorControl;
+        DigitalOut motorDirection;
+        Ticker ticker;                                                                      // Keeps the arm's instance variables up to date
+        // Methods
+        void setMotor(float motorValue);
+        void doTick();
+    public:
+        // Constructor
+        Arm(float initialLength, PinName motorPWM, PinName motorDir);
+        // Methods
+        float getLength();
+        float getVelocity();
+        void setVelocity(float referenceVelocity);
+        
+};
\ No newline at end of file