Project Paint / Mbed 2 deprecated arm_control

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Dependencies:   mbed QEI biquadFilter

robot.h

Committer:
ronvbree
Date:
2016-11-02
Revision:
7:a80cb6b06320
Parent:
3:1f47375270c5
Child:
12:8295c02d740f

File content as of revision 7:a80cb6b06320:

#include "arm.h"
#include "PID_controller.h"
#include "geometry.h"

class Robot {
    private:
        // Arms
        Arm upperArm;
        Arm lowerArm;

        // Safety first!
        volatile bool killed;
        
    public:
        // Constructor
        Robot();
        // Update arms
        void update();
        // Get upper arm length
        float getUpperArmLength();
        // Get lower arm length
        float getLowerArmLength();
        // Set upper arm velocity
        void setUpperArmVelocity(float referenceVelocity);
        // Set lower arm velocity
        void setLowerArmVelocity(float referenceVelocity);
        // Safety shutdown
        void kill();
        bool isKilled();

};