Gripper code for R5 bot
Dependents: GrabTest R5 2016 Robotics Team 1
Diff: Gripper.h
- Revision:
- 0:f1aeb307ab68
- Child:
- 1:92a09a39e546
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Gripper.h Wed Feb 24 16:31:12 2016 +0000 @@ -0,0 +1,29 @@ +#include "mbed.h" + +//definitions for servo PWM settings in us +#define GRIP_DEF 1500 +#define GRIP_OPEN 1700 +#define GRIP_CLOSE 1120 +#define WRIST_DEF 1500 +#define WRIST_UP 2000 +#define WRIST_DOWN 1500 +#define PWM_PER 20000 + +class Gripper +{ + public: + //gripPin is pwm pin connected to gripper servo, wristPin is pwm pin connected to wrist servo + Gripper(PinName gripPin, PinName wristPin); + //closes gripper to fit target + void grip(); + //fully opens gripper + void release(); + //raises wrist to target angle + void lift(); + //lowers wrist to grabbing angle + void lower(); + + private: + PwmOut gripPwm; + PwmOut wristPwm; +}; \ No newline at end of file