Texas State IEEE / Gripper

Gripper code for R5 bot

Dependents:   GrabTest R5 2016 Robotics Team 1

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

Committer:
Hypna
Date:
Wed Feb 24 16:31:12 2016 +0000
Revision:
0:f1aeb307ab68
Child:
1:92a09a39e546
Adding Gripper

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Hypna 0:f1aeb307ab68 1 #include "mbed.h"
Hypna 0:f1aeb307ab68 2
Hypna 0:f1aeb307ab68 3 //definitions for servo PWM settings in us
Hypna 0:f1aeb307ab68 4 #define GRIP_DEF 1500
Hypna 0:f1aeb307ab68 5 #define GRIP_OPEN 1700
Hypna 0:f1aeb307ab68 6 #define GRIP_CLOSE 1120
Hypna 0:f1aeb307ab68 7 #define WRIST_DEF 1500
Hypna 0:f1aeb307ab68 8 #define WRIST_UP 2000
Hypna 0:f1aeb307ab68 9 #define WRIST_DOWN 1500
Hypna 0:f1aeb307ab68 10 #define PWM_PER 20000
Hypna 0:f1aeb307ab68 11
Hypna 0:f1aeb307ab68 12 class Gripper
Hypna 0:f1aeb307ab68 13 {
Hypna 0:f1aeb307ab68 14 public:
Hypna 0:f1aeb307ab68 15 //gripPin is pwm pin connected to gripper servo, wristPin is pwm pin connected to wrist servo
Hypna 0:f1aeb307ab68 16 Gripper(PinName gripPin, PinName wristPin);
Hypna 0:f1aeb307ab68 17 //closes gripper to fit target
Hypna 0:f1aeb307ab68 18 void grip();
Hypna 0:f1aeb307ab68 19 //fully opens gripper
Hypna 0:f1aeb307ab68 20 void release();
Hypna 0:f1aeb307ab68 21 //raises wrist to target angle
Hypna 0:f1aeb307ab68 22 void lift();
Hypna 0:f1aeb307ab68 23 //lowers wrist to grabbing angle
Hypna 0:f1aeb307ab68 24 void lower();
Hypna 0:f1aeb307ab68 25
Hypna 0:f1aeb307ab68 26 private:
Hypna 0:f1aeb307ab68 27 PwmOut gripPwm;
Hypna 0:f1aeb307ab68 28 PwmOut wristPwm;
Hypna 0:f1aeb307ab68 29 };