File content as of revision 0:494acf21d3bc:

#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);
        
};