Jordan Ford / Mbed 2 deprecated DrawBot

Final code for our 4180 Drawing Robot!

Dependencies:   4DGL-uLCD-SE gCodeParser mbed

pen.h@2:ba15545a4ccf, 2014-04-30 (annotated)

Committer:
jford38
Date:
Wed Apr 30 16:40:10 2014 +0000
Revision:
2:ba15545a4ccf
Parent:
0:40576dfac535 
Added Visual Studio Source files and README.; Alejandro.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jford38 0:40576dfac535 1 #ifndef PEN_H
jford38 0:40576dfac535 2 #define PEN_H
jford38 0:40576dfac535 3
jford38 0:40576dfac535 4 #include "mbed.h"
jford38 0:40576dfac535 5
jford38 0:40576dfac535 6 class Pen {
jford38 0:40576dfac535 7
jford38 0:40576dfac535 8 public:
jford38 0:40576dfac535 9 Pen(PinName p, float r);
jford38 0:40576dfac535 10 ~Pen();
jford38 0:40576dfac535 11
jford38 0:40576dfac535 12 void up();
jford38 0:40576dfac535 13 void down();
jford38 0:40576dfac535 14 void pos(float angle);
jford38 0:40576dfac535 15
jford38 0:40576dfac535 16 private:
jford38 0:40576dfac535 17 PwmOut* pen_pin;
jford38 0:40576dfac535 18 float range;
jford38 0:40576dfac535 19 float up_range, down_range;
jford38 0:40576dfac535 20
jford38 0:40576dfac535 21 };
jford38 0:40576dfac535 22
jford38 0:40576dfac535 23 Pen::Pen(PinName p, float r) {
jford38 0:40576dfac535 24 range = r;
jford38 0:40576dfac535 25 up_range = 1;
jford38 0:40576dfac535 26 down_range = 1+90.0/range;
jford38 0:40576dfac535 27 pen_pin = new PwmOut(p);
jford38 0:40576dfac535 28 pen_pin->period_ms(20);
jford38 0:40576dfac535 29 up();
jford38 0:40576dfac535 30 }
jford38 0:40576dfac535 31
jford38 0:40576dfac535 32 Pen::~Pen() {
jford38 0:40576dfac535 33 delete pen_pin;
jford38 0:40576dfac535 34 }
jford38 0:40576dfac535 35
jford38 0:40576dfac535 36 // Go to angle in degrees
jford38 0:40576dfac535 37 inline void Pen::pos(float angle) {
jford38 0:40576dfac535 38 pen_pin->pulsewidth_ms(1+angle/range);
jford38 0:40576dfac535 39 }
jford38 0:40576dfac535 40
jford38 0:40576dfac535 41 inline void Pen::up() {
jford38 0:40576dfac535 42 pen_pin->pulsewidth_ms(up_range);
jford38 0:40576dfac535 43 }
jford38 0:40576dfac535 44
jford38 0:40576dfac535 45 inline void Pen::down() {
jford38 0:40576dfac535 46 pen_pin->pulsewidth_ms(down_range);
jford38 0:40576dfac535 47 }
jford38 0:40576dfac535 48
jford38 0:40576dfac535 49 #endif