Gripper code for R5 bot
Dependents: GrabTest R5 2016 Robotics Team 1
Gripper.cpp@3:5e473aa5381f, 2016-04-09 (annotated)
- Committer:
- j_j205
- Date:
- Sat Apr 09 11:02:01 2016 +0000
- Revision:
- 3:5e473aa5381f
- Parent:
- 0:f1aeb307ab68
jj
Who changed what in which revision?
User | Revision | Line number | New 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); } |