Final code for our 4180 Drawing Robot!
Dependencies: 4DGL-uLCD-SE gCodeParser mbed
pen.h
- Committer:
- jford38
- Date:
- 2014-04-30
- Revision:
- 2:ba15545a4ccf
- Parent:
- 0:40576dfac535
File content as of revision 2:ba15545a4ccf:
#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