Giancarlo R.
/
RoboArm
Robo class for controlling Lynxmotion AL5A Arm
robo.h@1:678d09a36fcb, 2011-10-13 (annotated)
- Committer:
- gvalentin3
- Date:
- Thu Oct 13 22:11:11 2011 +0000
- Revision:
- 1:678d09a36fcb
- Parent:
- 0:e9452b5dc9d2
Version #2
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
gvalentin3 | 0:e9452b5dc9d2 | 1 | //Robo class header for controlling robotic arm |
gvalentin3 | 0:e9452b5dc9d2 | 2 | //Created 10/12/2011 by MLD 427 |
gvalentin3 | 0:e9452b5dc9d2 | 3 | |
gvalentin3 | 0:e9452b5dc9d2 | 4 | #include "mbed.h" |
gvalentin3 | 0:e9452b5dc9d2 | 5 | class robo{ |
gvalentin3 | 0:e9452b5dc9d2 | 6 | private: |
gvalentin3 | 0:e9452b5dc9d2 | 7 | PwmOut *spin; |
gvalentin3 | 0:e9452b5dc9d2 | 8 | PwmOut *base; |
gvalentin3 | 0:e9452b5dc9d2 | 9 | PwmOut *elbow; |
gvalentin3 | 0:e9452b5dc9d2 | 10 | PwmOut *wrist; |
gvalentin3 | 0:e9452b5dc9d2 | 11 | PwmOut *claw; |
gvalentin3 | 0:e9452b5dc9d2 | 12 | public: |
gvalentin3 | 0:e9452b5dc9d2 | 13 | robo(PinName s, PinName b, PinName e, PinName w, PinName c); |
gvalentin3 | 0:e9452b5dc9d2 | 14 | void write(float percent, int motor); |
gvalentin3 | 0:e9452b5dc9d2 | 15 | void writeSpin(float percent); |
gvalentin3 | 0:e9452b5dc9d2 | 16 | void writeBase(float percent); |
gvalentin3 | 0:e9452b5dc9d2 | 17 | void writeElbow(float percent); |
gvalentin3 | 0:e9452b5dc9d2 | 18 | void writeWrist(float percent); |
gvalentin3 | 0:e9452b5dc9d2 | 19 | void writeClaw(float percent); |
gvalentin3 | 0:e9452b5dc9d2 | 20 | |
gvalentin3 | 0:e9452b5dc9d2 | 21 | |
gvalentin3 | 0:e9452b5dc9d2 | 22 | }; |