Texas State IEEE / Mbed 2 deprecated grippertest

Gripper and Color sensor basic functionality testing.

Dependencies:   mbed

gripper.h@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 #ifndef GRIPPER_H
z_g13 0:b30091b30223 2 #define GRIPPER_H
z_g13 0:b30091b30223 3
z_g13 0:b30091b30223 4 #include "mbed.h"
z_g13 0:b30091b30223 5
z_g13 0:b30091b30223 6 //definitions for servo PWM settings in us
z_g13 0:b30091b30223 7 #define GRIP_DEF 1500
z_g13 0:b30091b30223 8 #define GRIP_OPEN 1700
z_g13 0:b30091b30223 9 #define GRIP_CLOSE 1120
z_g13 0:b30091b30223 10 #define WRIST_DEF 1500
z_g13 0:b30091b30223 11 #define WRIST_UP 2000
z_g13 0:b30091b30223 12 #define WRIST_DOWN 1500
z_g13 0:b30091b30223 13 #define PWM_PER 20000
z_g13 0:b30091b30223 14
z_g13 0:b30091b30223 15 class Gripper
z_g13 0:b30091b30223 16 {
z_g13 0:b30091b30223 17 public:
z_g13 0:b30091b30223 18 //gripPin is pwm pin connected to gripper servo, wristPin is pwm pin connected to wrist servo
z_g13 0:b30091b30223 19 Gripper(PinName gripPin, PinName wristPin);
z_g13 0:b30091b30223 20 //closes gripper to fit target
z_g13 0:b30091b30223 21 void grip();
z_g13 0:b30091b30223 22 //fully opens gripper
z_g13 0:b30091b30223 23 void release();
z_g13 0:b30091b30223 24 //raises wrist to target angle
z_g13 0:b30091b30223 25 void lift();
z_g13 0:b30091b30223 26 //lowers wrist to grabbing angle
z_g13 0:b30091b30223 27 void lower();
z_g13 0:b30091b30223 28
z_g13 0:b30091b30223 29 private:
z_g13 0:b30091b30223 30 PwmOut gripPwm;
z_g13 0:b30091b30223 31 PwmOut wristPwm;
z_g13 0:b30091b30223 32 };
z_g13 0:b30091b30223 33 #endif