HEXAPOD_LEG.h

00001 #ifndef HEXAPOD_LEG_LIBRARY_H
00002 #define HEXAPOD_LEG_LIBRARY_H
00003 
00004 #include "PCA9685.h"
00005 #include "mbed.h"
00006 #include "structs.h"
00007 
00008 class Hexapod_Leg {
00009     
00010     public:
00011     Hexapod_Leg(PCA9685 Driver, calibrated_leg_centre leg_cent, calibrated_leg_1_degree leg_step, leg_outputs leg_out, bool ON_RHS);       
00012     void set_joint_angles(float angle_a, float angle_b, float angle_c);
00013     void set_leg_position(leg_x_angles angles);
00014     
00015     private:
00016     float angle_to_pwm(float angle, char joint);
00017     
00018     private:
00019     float a_ref;
00020     float b_ref;   
00021     float c_ref;
00022         
00023     float a_1deg;
00024     float b_1deg;
00025     float c_1deg;
00026     
00027     int a_pin;
00028     int b_pin;
00029     int c_pin;
00030     
00031     bool RHS;
00032     
00033     PCA9685 driver;
00034 
00035 };
00036 
00037 
00038 
00039 
00040 #endif