Texas State IEEE / Gripper

Gripper code for R5 bot

Dependents:   GrabTest R5 2016 Robotics Team 1

Gripper.cpp@0:f1aeb307ab68, 2016-02-24 (annotated)

Committer:
Hypna
Date:
Wed Feb 24 16:31:12 2016 +0000
Revision:
0:f1aeb307ab68
Adding Gripper

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Hypna 0:f1aeb307ab68 1 #include "Gripper.h"
Hypna 0:f1aeb307ab68 2
Hypna 0:f1aeb307ab68 3 Gripper::Gripper(PinName gripPin, PinName wristPin) : gripPwm(gripPin), wristPwm(wristPin)
Hypna 0:f1aeb307ab68 4 {
Hypna 0:f1aeb307ab68 5 gripPwm.period_us(PWM_PER);
Hypna 0:f1aeb307ab68 6 wristPwm.period_us(PWM_PER);
Hypna 0:f1aeb307ab68 7 gripPwm.pulsewidth_us(GRIP_DEF);
Hypna 0:f1aeb307ab68 8 wristPwm.pulsewidth_us(WRIST_DEF);
Hypna 0:f1aeb307ab68 9 }
Hypna 0:f1aeb307ab68 10
Hypna 0:f1aeb307ab68 11 void Gripper::grip() { gripPwm.pulsewidth_us(GRIP_CLOSE); }
Hypna 0:f1aeb307ab68 12
Hypna 0:f1aeb307ab68 13 void Gripper::release() { gripPwm.pulsewidth_us(GRIP_OPEN); }
Hypna 0:f1aeb307ab68 14
Hypna 0:f1aeb307ab68 15 void Gripper::lift() { wristPwm.pulsewidth_us(WRIST_UP); }
Hypna 0:f1aeb307ab68 16
Hypna 0:f1aeb307ab68 17 void Gripper::lower() { wristPwm.pulsewidth_us(WRIST_DOWN); }