Calum Johnston / Hexapod_Leg

Library to control a 3DOF leg with a PCA9685.

HEXAPOD_LEG.h@5:50039ebd3a8d, 2016-05-03 (annotated)

Committer:
el13cj
Date:
Tue May 03 10:57:31 2016 +0000
Revision:
5:50039ebd3a8d
Parent:
3:9cc530686346 
All good baby

Who changed what in which revision?

UserRevisionLine numberNew contents of line
el13cj 0:ead365546ca5 1 #ifndef HEXAPOD_LEG_LIBRARY_H
el13cj 0:ead365546ca5 2 #define HEXAPOD_LEG_LIBRARY_H
el13cj 0:ead365546ca5 3
el13cj 0:ead365546ca5 4 #include "PCA9685.h"
el13cj 0:ead365546ca5 5 #include "mbed.h"
el13cj 0:ead365546ca5 6 #include "structs.h"
el13cj 0:ead365546ca5 7
el13cj 0:ead365546ca5 8 class Hexapod_Leg {
el13cj 0:ead365546ca5 9
el13cj 0:ead365546ca5 10 public:
el13cj 0:ead365546ca5 11 Hexapod_Leg(PCA9685 Driver, calibrated_leg_centre leg_cent, calibrated_leg_1_degree leg_step, leg_outputs leg_out, bool ON_RHS);
el13cj 0:ead365546ca5 12 void set_joint_angles(float angle_a, float angle_b, float angle_c);
el13cj 3:9cc530686346 13 void set_leg_position(leg_x_angles angles);
el13cj 0:ead365546ca5 14
el13cj 0:ead365546ca5 15 private:
el13cj 0:ead365546ca5 16 float angle_to_pwm(float angle, char joint);
el13cj 0:ead365546ca5 17
el13cj 0:ead365546ca5 18 private:
el13cj 0:ead365546ca5 19 float a_ref;
el13cj 0:ead365546ca5 20 float b_ref;
el13cj 0:ead365546ca5 21 float c_ref;
el13cj 0:ead365546ca5 22
el13cj 0:ead365546ca5 23 float a_1deg;
el13cj 0:ead365546ca5 24 float b_1deg;
el13cj 0:ead365546ca5 25 float c_1deg;
el13cj 0:ead365546ca5 26
el13cj 0:ead365546ca5 27 int a_pin;
el13cj 0:ead365546ca5 28 int b_pin;
el13cj 0:ead365546ca5 29 int c_pin;
el13cj 0:ead365546ca5 30
el13cj 0:ead365546ca5 31 bool RHS;
el13cj 0:ead365546ca5 32
el13cj 0:ead365546ca5 33 PCA9685 driver;
el13cj 0:ead365546ca5 34
el13cj 0:ead365546ca5 35 };
el13cj 0:ead365546ca5 36
el13cj 0:ead365546ca5 37
el13cj 0:ead365546ca5 38
el13cj 0:ead365546ca5 39
el13cj 0:ead365546ca5 40 #endif