Texas State IEEE / Mbed 2 deprecated grippertest

Gripper and Color sensor basic functionality testing.

Dependencies:   mbed

gripper.cpp

Committer:
z_g13
Date:
2016-03-26
Revision:
0:b30091b30223

File content as of revision 0:b30091b30223:

#include "gripper.h"
#include "mbed.h"
 
Gripper::Gripper(PinName gripPin, PinName wristPin) : gripPwm(gripPin), wristPwm(wristPin)
{
    gripPwm.period_us(PWM_PER);
    wristPwm.period_us(PWM_PER);
    gripPwm.pulsewidth_us(GRIP_DEF);
    wristPwm.pulsewidth_us(WRIST_DEF);
}
 
void Gripper::grip() { gripPwm.pulsewidth_us(GRIP_CLOSE); }
 
void Gripper::release() { gripPwm.pulsewidth_us(GRIP_OPEN); }
 
void Gripper::lift() { wristPwm.pulsewidth_us(WRIST_UP); }
 
void Gripper::lower() { wristPwm.pulsewidth_us(WRIST_DOWN); }