Texas State IEEE / Mbed 2 deprecated grippertest

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Dependencies:   mbed

Diff: gripper.cpp

Revision:
0:b30091b30223
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/gripper.cpp	Sat Mar 26 23:30:29 2016 +0000
@@ -0,0 +1,18 @@
+#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); }
\ No newline at end of file