Project Paint / Mbed 2 deprecated arm_control

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Dependencies:   mbed QEI biquadFilter

robot.h@12:8295c02d740f, 2016-11-03 (annotated)

Committer:
ronvbree
Date:
Thu Nov 03 13:08:44 2016 +0000
Revision:
12:8295c02d740f
Parent:
7:a80cb6b06320
Child:
25:bdb854127c11
update

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ronvbree 2:fc869e45e672 1 #include "arm.h"
ronvbree 7:a80cb6b06320 2 #include "PID_controller.h"
ronvbree 7:a80cb6b06320 3 #include "geometry.h"
ronvbree 2:fc869e45e672 4
ronvbree 2:fc869e45e672 5 class Robot {
ronvbree 2:fc869e45e672 6 private:
ronvbree 2:fc869e45e672 7 // Arms
ronvbree 2:fc869e45e672 8 Arm upperArm;
ronvbree 2:fc869e45e672 9 Arm lowerArm;
ronvbree 7:a80cb6b06320 10
ronvbree 7:a80cb6b06320 11 // Safety first!
ronvbree 7:a80cb6b06320 12 volatile bool killed;
ronvbree 2:fc869e45e672 13
ronvbree 2:fc869e45e672 14 public:
ronvbree 7:a80cb6b06320 15 // Constructor
ronvbree 2:fc869e45e672 16 Robot();
ronvbree 7:a80cb6b06320 17 // Update arms
ronvbree 7:a80cb6b06320 18 void update();
ronvbree 3:1f47375270c5 19 // Get upper arm length
ronvbree 3:1f47375270c5 20 float getUpperArmLength();
ronvbree 3:1f47375270c5 21 // Get lower arm length
ronvbree 3:1f47375270c5 22 float getLowerArmLength();
ronvbree 12:8295c02d740f 23 // Get upper arm velocity estimation by the encoder (rad/s)
ronvbree 12:8295c02d740f 24 float getUpperArmEncoderVelocity();
ronvbree 12:8295c02d740f 25 // Get lower arm velocity estimation by the encoder (rad/s)
ronvbree 12:8295c02d740f 26 float getLowerArmEncoderVelocity();
ronvbree 12:8295c02d740f 27 // Set upper arm reference velocity
ronvbree 2:fc869e45e672 28 void setUpperArmVelocity(float referenceVelocity);
ronvbree 12:8295c02d740f 29 // Set lower arm reference velocity
ronvbree 2:fc869e45e672 30 void setLowerArmVelocity(float referenceVelocity);
ronvbree 2:fc869e45e672 31 // Safety shutdown
ronvbree 2:fc869e45e672 32 void kill();
ronvbree 7:a80cb6b06320 33 bool isKilled();
ronvbree 2:fc869e45e672 34
ronvbree 2:fc869e45e672 35 };
ronvbree 2:fc869e45e672 36
ronvbree 2:fc869e45e672 37
ronvbree 2:fc869e45e672 38