Texas State IEEE / Gripper

Gripper code for R5 bot

Dependents:   GrabTest R5 2016 Robotics Team 1

Gripper.h

Committer:
Hypna
Date:
2016-03-16
Revision:
1:92a09a39e546
Parent:
0:f1aeb307ab68
Child:
2:4857ea4719e1

File content as of revision 1:92a09a39e546:

#ifndef GRIPPER_H
#define GRIPPER_H

#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;
};
#endif