Giancarlo R. / Mbed 2 deprecated Arm_Serial_Coordinates

Takes in serial coordinates (in mm) and moves servos in Lynxmotion AL5 arm accordingly.

Dependencies:   mbed Servo

robo.h@0:4a15e2d20446, 2011-12-14 (annotated)

Committer:
gvalentin3
Date:
Wed Dec 14 17:08:38 2011 +0000
Revision:
0:4a15e2d20446
First published version. Height is still hardcoded to -70mm.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
gvalentin3 0:4a15e2d20446 1 //Robo class header for controlling robotic arm
gvalentin3 0:4a15e2d20446 2 //Created 10/12/2011 by MLD 427
gvalentin3 0:4a15e2d20446 3
gvalentin3 0:4a15e2d20446 4 #include "mbed.h"
gvalentin3 0:4a15e2d20446 5 class robo{
gvalentin3 0:4a15e2d20446 6 private:
gvalentin3 0:4a15e2d20446 7 PwmOut *spin;
gvalentin3 0:4a15e2d20446 8 PwmOut *base;
gvalentin3 0:4a15e2d20446 9 PwmOut *elbow;
gvalentin3 0:4a15e2d20446 10 PwmOut *wrist;
gvalentin3 0:4a15e2d20446 11 PwmOut *claw;
gvalentin3 0:4a15e2d20446 12 PwmOut *trash;
gvalentin3 0:4a15e2d20446 13 public:
gvalentin3 0:4a15e2d20446 14 robo(PinName s, PinName b, PinName e, PinName w, PinName c, PinName t);
gvalentin3 0:4a15e2d20446 15 void write(float percent, int motor);
gvalentin3 0:4a15e2d20446 16 void writeSpin(float percent);
gvalentin3 0:4a15e2d20446 17 void writeBase(float percent);
gvalentin3 0:4a15e2d20446 18 void writeElbow(float percent);
gvalentin3 0:4a15e2d20446 19 void writeWrist(float percent);
gvalentin3 0:4a15e2d20446 20 void writeClaw(float percent);
gvalentin3 0:4a15e2d20446 21 void writeTrash(float percent);
gvalentin3 0:4a15e2d20446 22 float* calculateangle(float x1e, float y1e, float oe, float angles[]);
gvalentin3 0:4a15e2d20446 23
gvalentin3 0:4a15e2d20446 24
gvalentin3 0:4a15e2d20446 25 };