Texas State IEEE / Mbed 2 deprecated grippertest

Gripper and Color sensor basic functionality testing.

Dependencies:   mbed

gripper.cpp@0:b30091b30223, 2016-03-26 (annotated)

Committer:
z_g13
Date:
Sat Mar 26 23:30:29 2016 +0000
Revision:
0:b30091b30223
3/26/2016 - ZG;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
z_g13 0:b30091b30223 1 #include "gripper.h"
z_g13 0:b30091b30223 2 #include "mbed.h"
z_g13 0:b30091b30223 3
z_g13 0:b30091b30223 4 Gripper::Gripper(PinName gripPin, PinName wristPin) : gripPwm(gripPin), wristPwm(wristPin)
z_g13 0:b30091b30223 5 {
z_g13 0:b30091b30223 6 gripPwm.period_us(PWM_PER);
z_g13 0:b30091b30223 7 wristPwm.period_us(PWM_PER);
z_g13 0:b30091b30223 8 gripPwm.pulsewidth_us(GRIP_DEF);
z_g13 0:b30091b30223 9 wristPwm.pulsewidth_us(WRIST_DEF);
z_g13 0:b30091b30223 10 }
z_g13 0:b30091b30223 11
z_g13 0:b30091b30223 12 void Gripper::grip() { gripPwm.pulsewidth_us(GRIP_CLOSE); }
z_g13 0:b30091b30223 13
z_g13 0:b30091b30223 14 void Gripper::release() { gripPwm.pulsewidth_us(GRIP_OPEN); }
z_g13 0:b30091b30223 15
z_g13 0:b30091b30223 16 void Gripper::lift() { wristPwm.pulsewidth_us(WRIST_UP); }
z_g13 0:b30091b30223 17
z_g13 0:b30091b30223 18 void Gripper::lower() { wristPwm.pulsewidth_us(WRIST_DOWN); }