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Dependencies:   RoboClaw mbed

Fork of Timer by ARES

ControlleurPince/ControlleurPince.h@71:5590dbe8393a, 2016-05-05 (annotated)

Committer:
Jagang
Date:
Thu May 05 03:47:05 2016 +0000
Revision:
71:5590dbe8393a
Parent:
58:02dc8328975a 
Uodate Controlleur, ajout des mouvement d et c, ajout des AX12

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Jagang 58:02dc8328975a 1 #ifndef CONTROLLEUR_PINCE_H
Jagang 58:02dc8328975a 2 #define CONTROLLEUR_PINCE_H
Jagang 58:02dc8328975a 3
Jagang 71:5590dbe8393a 4 //#include "defines.h"
Jagang 58:02dc8328975a 5 #include "Stepper.h"
Jagang 58:02dc8328975a 6 #include "mbed.h"
Jagang 58:02dc8328975a 7
Jagang 58:02dc8328975a 8 class ControlleurPince
Jagang 58:02dc8328975a 9 {
Jagang 58:02dc8328975a 10
Jagang 58:02dc8328975a 11 public:
Jagang 58:02dc8328975a 12
Jagang 71:5590dbe8393a 13 ControlleurPince(Stepper &p_RMot, Stepper &p_ZMot, Stepper &p_LMot, DigitalIn &p_EnR, DigitalIn &p_EnZ, DigitalIn &p_EnL, AX12 &_Lax12, AX12 &_Rax12);
Jagang 71:5590dbe8393a 14
Jagang 71:5590dbe8393a 15 void init();
Jagang 71:5590dbe8393a 16 void home(bool r=true, bool z=true, bool l=true);
Jagang 71:5590dbe8393a 17 void setPos(float z, float delta, float center = -600);
Jagang 71:5590dbe8393a 18
Jagang 71:5590dbe8393a 19 void close();
Jagang 71:5590dbe8393a 20 void open();
Jagang 58:02dc8328975a 21
Jagang 58:02dc8328975a 22 private:
Jagang 58:02dc8328975a 23
Jagang 58:02dc8328975a 24 Stepper &RMot, &ZMot, &LMot;
Jagang 58:02dc8328975a 25
Jagang 58:02dc8328975a 26 DigitalIn &EnR, &EnZ, &EnL;
Jagang 58:02dc8328975a 27
Jagang 71:5590dbe8393a 28 AX12 &Lax12, &Rax12;
Jagang 71:5590dbe8393a 29
Jagang 58:02dc8328975a 30 float pos_r,pos_z,pos_l;
Jagang 58:02dc8328975a 31 };
Jagang 58:02dc8328975a 32
Jagang 58:02dc8328975a 33 #endif