Texas State IEEE / Gripper

Gripper code for R5 bot

Dependents:   GrabTest R5 2016 Robotics Team 1

Diff: Gripper.cpp

Revision:
0:f1aeb307ab68
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Gripper.cpp	Wed Feb 24 16:31:12 2016 +0000
@@ -0,0 +1,17 @@
+#include "Gripper.h"
+
+Gripper::Gripper(PinName gripPin, PinName wristPin) : gripPwm(gripPin), wristPwm(wristPin)
+{
+    gripPwm.period_us(PWM_PER);
+    wristPwm.period_us(PWM_PER);
+    gripPwm.pulsewidth_us(GRIP_DEF);
+    wristPwm.pulsewidth_us(WRIST_DEF);
+}
+
+void Gripper::grip() { gripPwm.pulsewidth_us(GRIP_CLOSE); }
+
+void Gripper::release() { gripPwm.pulsewidth_us(GRIP_OPEN); }
+
+void Gripper::lift() { wristPwm.pulsewidth_us(WRIST_UP); }
+
+void Gripper::lower() { wristPwm.pulsewidth_us(WRIST_DOWN); }
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