Diff: pen.h

Revision:

0:40576dfac535

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/pen.h	Tue Apr 29 21:51:29 2014 +0000
@@ -0,0 +1,49 @@
+#ifndef PEN_H
+#define PEN_H
+
+#include "mbed.h"
+
+class Pen {
+    
+    public:
+        Pen(PinName p, float r);
+        ~Pen();
+        
+        void up();
+        void down();
+        void pos(float angle);
+        
+    private:
+        PwmOut* pen_pin;
+        float range;
+        float up_range, down_range;
+    
+};
+
+Pen::Pen(PinName p, float r) {
+    range = r;
+    up_range = 1;
+    down_range = 1+90.0/range;
+    pen_pin = new PwmOut(p);
+    pen_pin->period_ms(20);
+    up();
+}
+
+Pen::~Pen() {
+    delete pen_pin;
+}
+
+// Go to angle in degrees
+inline void Pen::pos(float angle) {
+    pen_pin->pulsewidth_ms(1+angle/range); 
+}
+
+inline void Pen::up() {
+    pen_pin->pulsewidth_ms(up_range); 
+}
+
+inline void Pen::down() {
+    pen_pin->pulsewidth_ms(down_range);
+}
+
+#endif
\ No newline at end of file