Diff: HEXAPOD_LEG.h

Revision:

0:ead365546ca5

Child:

3:9cc530686346

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/HEXAPOD_LEG.h	Sat Apr 09 18:57:46 2016 +0000
@@ -0,0 +1,40 @@
+#ifndef HEXAPOD_LEG_LIBRARY_H
+#define HEXAPOD_LEG_LIBRARY_H
+
+#include "PCA9685.h"
+#include "mbed.h"
+#include "structs.h"
+
+class Hexapod_Leg {
+    
+    public:
+    Hexapod_Leg(PCA9685 Driver, calibrated_leg_centre leg_cent, calibrated_leg_1_degree leg_step, leg_outputs leg_out, bool ON_RHS);       
+    void set_joint_angles(float angle_a, float angle_b, float angle_c);
+    
+    
+    private:
+    float angle_to_pwm(float angle, char joint);
+    
+    private:
+    float a_ref;
+    float b_ref;   
+    float c_ref;
+        
+    float a_1deg;
+    float b_1deg;
+    float c_1deg;
+    
+    int a_pin;
+    int b_pin;
+    int c_pin;
+    
+    bool RHS;
+    
+    PCA9685 driver;
+
+};
+
+
+
+
+#endif
\ No newline at end of file