Texas State IEEE / Mbed 2 deprecated grippertest

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Show/hide line numbers gripper.cpp Source File

gripper.cpp

00001 #include "gripper.h"
00002 #include "mbed.h"
00003  
00004 Gripper::Gripper(PinName gripPin, PinName wristPin) : gripPwm(gripPin), wristPwm(wristPin)
00005 {
00006     gripPwm.period_us(PWM_PER);
00007     wristPwm.period_us(PWM_PER);
00008     gripPwm.pulsewidth_us(GRIP_DEF);
00009     wristPwm.pulsewidth_us(WRIST_DEF);
00010 }
00011  
00012 void Gripper::grip() { gripPwm.pulsewidth_us(GRIP_CLOSE); }
00013  
00014 void Gripper::release() { gripPwm.pulsewidth_us(GRIP_OPEN); }
00015  
00016 void Gripper::lift() { wristPwm.pulsewidth_us(WRIST_UP); }
00017  
00018 void Gripper::lower() { wristPwm.pulsewidth_us(WRIST_DOWN); }
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