Oskar Weigl / Mbed 2 deprecated ICRSEurobot13

This is some awesome robot code

Dependencies:   mbed-rtos mbed QEI

Fork of ICRSEurobot13 by Thomas Branch

Actuators/Arms/Arm.h@90:e4164bb8c60e, 2013-04-17 (annotated)

Committer:
madcowswe
Date:
Wed Apr 17 23:16:25 2013 +0000
Revision:
90:e4164bb8c60e
Parent:
65:4709ff6c753c 
final state at end of competition. Includes avoid wooden team hack

Who changed what in which revision?

UserRevisionLine numberNew contents of line
rsavitski 65:4709ff6c753c 1 #ifndef EUROBOT_ACTUATORS_ARMS_ARM_H_
rsavitski 65:4709ff6c753c 2 #define EUROBOT_ACTUATORS_ARMS_ARM_H_
twighk 1:8119211eae14 3
twighk 1:8119211eae14 4 #include "mbed.h"
twighk 1:8119211eae14 5
rsavitski 65:4709ff6c753c 6 namespace arm
twighk 1:8119211eae14 7 {
rsavitski 65:4709ff6c753c 8
rsavitski 65:4709ff6c753c 9 class Arm;
twighk 1:8119211eae14 10
rsavitski 65:4709ff6c753c 11 extern Arm lower_arm;
rsavitski 65:4709ff6c753c 12 extern Arm upper_arm;
rsavitski 65:4709ff6c753c 13
rsavitski 65:4709ff6c753c 14
rsavitski 65:4709ff6c753c 15 class Arm
rsavitski 65:4709ff6c753c 16 {
twighk 1:8119211eae14 17 public:
rsavitski 65:4709ff6c753c 18 Arm (PwmOut pwm_in, float period_in, float min_pos_in, float max_pos_in)
rsavitski 65:4709ff6c753c 19 : pwm_(pwm_in), period_(period_in), min_pos_(min_pos_in), max_pos_(max_pos_in)
rsavitski 65:4709ff6c753c 20 {
rsavitski 65:4709ff6c753c 21 pwm_.period(period_);
twighk 1:8119211eae14 22 }
twighk 1:8119211eae14 23
rsavitski 65:4709ff6c753c 24 void go_up()
rsavitski 65:4709ff6c753c 25 {
rsavitski 65:4709ff6c753c 26 pwm_.pulsewidth_us(max_pos_*1000);
twighk 1:8119211eae14 27 }
twighk 1:8119211eae14 28
rsavitski 65:4709ff6c753c 29 void go_down()
rsavitski 65:4709ff6c753c 30 {
rsavitski 65:4709ff6c753c 31 pwm_.pulsewidth_us(min_pos_*1000);
twighk 1:8119211eae14 32 }
twighk 1:8119211eae14 33
rsavitski 65:4709ff6c753c 34 private:
rsavitski 65:4709ff6c753c 35 PwmOut pwm_;
rsavitski 65:4709ff6c753c 36 float period_;
rsavitski 65:4709ff6c753c 37 float min_pos_;
rsavitski 65:4709ff6c753c 38 float max_pos_;
twighk 1:8119211eae14 39
twighk 1:8119211eae14 40 };
rsavitski 65:4709ff6c753c 41
rsavitski 65:4709ff6c753c 42 } //namespace
rsavitski 65:4709ff6c753c 43
rsavitski 65:4709ff6c753c 44 #endif