File content as of revision 2:fc869e45e672:

#include "arm.h"

class Robot {
    private:
        // Arms
        Arm upperArm;
        Arm lowerArm;
        // Roller position
        float x;
        float y;
        // Ticker
        Ticker ticker;
        // Safety button
        InterruptIn killButton;
        
        void doTick();
        
    public:
        Robot();
//        void setX(float x);
//        void setY(float y);
        // Move only on the x axis
        void moveX(float dx);
        // Move only on the y axis
        void moveY(float dy);
        // Set arm lengths
//        void setArms(float upper, float lower);
        // Set upper arm velocity
        void setUpperArmVelocity(float referenceVelocity);
        // Set lower arm velocity
        void setLowerArmVelocity(float referenceVelocity);
        // Safety shutdown
        void kill();

};