Diff: robot.h

Revision:

2:fc869e45e672

Child:

3:1f47375270c5

diff -r 494acf21d3bc -r fc869e45e672 robot.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/robot.h	Wed Nov 02 08:51:12 2016 +0000
@@ -0,0 +1,38 @@
+#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();
+
+};
+
+
+