Diff: robo.cpp

Revision:

0:e9452b5dc9d2

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/robo.cpp	Thu Oct 13 21:52:16 2011 +0000
@@ -0,0 +1,71 @@
+//Robo class implementation for controlling robotic arm
+//Created 10/12/2011 by MLD 427
+
+#include "robo.h"
+#include "mbed.h"
+robo::robo(PinName s, PinName b, PinName e, PinName w, PinName c){
+    spin = new PwmOut(s);
+    base = new PwmOut(b);
+    elbow = new PwmOut(e);
+    wrist = new PwmOut(w);
+    claw = new PwmOut(c);
+    spin->period_ms(20);
+    base->period_ms(20);
+    elbow->period_ms(20);
+    wrist->period_ms(20);
+    claw->period_ms(20);
+}
+
+void robo::write(float percent,int servo){
+    if(percent > 100)
+        percent = 1;
+    if(percent<0)
+        percent = 0;
+        switch(servo){
+            case(0):
+                spin->pulsewidth_us(percent * 10 +1000);
+            break;
+            case(1):
+                base->pulsewidth_us(percent * 10 +1000);
+            break;
+            case(2):
+                elbow->pulsewidth_us(percent * 10 +1000);
+            break;
+            case(3):
+                wrist->pulsewidth_us(percent * 10 +1000);
+            break;
+            case(4):
+                claw->pulsewidth_us(percent * 10 +1000);
+            break;
+        }
+     
+}
+
+void robo::writeSpin(float percent){
+    write(percent,0);
+}
+void robo::writeBase(float percent){
+    if(percent >50)
+        percent = 50;
+    write(percent,1);
+    }
+void robo::writeElbow(float percent){
+    write(percent,2);
+}
+void robo::writeWrist(float percent){
+    if(percent>60)
+        percent = 60;
+    write(percent,3);
+}
+void robo::writeClaw(float percent){
+    write(percent,4);
+}
+void robo::turnCenter(){
+    writeBase(50);
+}
+
+void robo::openClaw(){
+    writeClaw(50);
+}
+
+