Diff: Actuators/Arms/Arm.h

Revision:

65:4709ff6c753c

Parent:

5:56a5fdd373c9

--- a/Actuators/Arms/Arm.h	Sat Apr 13 22:42:01 2013 +0000
+++ b/Actuators/Arms/Arm.h	Sun Apr 14 17:57:12 2013 +0000
@@ -1,69 +1,44 @@
-
-// Eurobot13 WhiteArm.h
+#ifndef EUROBOT_ACTUATORS_ARMS_ARM_H_
+#define EUROBOT_ACTUATORS_ARMS_ARM_H_
 
 #include "mbed.h"
-#include "Servo.h"
 
-class Arm : public Servo
+namespace arm
 {
-private:
-    bool updirn;
+
+class Arm;
 
+extern Arm lower_arm;
+extern Arm upper_arm;
+
+
+class Arm 
+{
 public:
-    Arm ( PinName yellowPWM
-        , bool upflip = false
-        , float range = 0.0005, float degrees = 45.0
-        ) 
-        : Servo(yellowPWM) 
-        {
-        calibrate(range, degrees);
-        updirn = upflip;
+    Arm (PwmOut pwm_in, float period_in, float min_pos_in, float max_pos_in)
+       : pwm_(pwm_in), period_(period_in), min_pos_(min_pos_in), max_pos_(max_pos_in)
+    {
+        pwm_.period(period_);
     }
 
-    void operator()(float in) {
-        write(in);
-    }
-
-    void clockwise() { // full lock clockwise
-        write(updirn?1:0);
-    }
-
-    void anticlockwise() { // full lock anticlockwise
-        write(updirn?0:1);
+    void go_up()
+    {
+        pwm_.pulsewidth_us(max_pos_*1000);
     }
     
-    virtual void halt() { // servo applies no force
-        //DigitalOut myled(LED3);
-        //myled = 1;
-        _pwm = 0;
-    }
-};
-
-
-/*
-class Servo{
-    private:
-    PwmOut PWM;
-
-    public:
-    Servo(PinName pin1) : PWM(pin1){
+    void go_down()
+    {
+        pwm_.pulsewidth_us(min_pos_*1000);
     }
 
-    void operator()(float in){
-        PWM = in;
-    }
-
-    void clockwise() { // full lock clockwise
-        PWM = .135;
-    }
-
-    void anticlockwise() { // full lock anticlockwise
-        PWM = .025;
-    }
-
-    void relax() { // servo applies no force
-        PWM = 0;
-    }
+private:
+    PwmOut pwm_;
+    float period_;
+    float min_pos_;
+    float max_pos_;
 
 };
-*/
\ No newline at end of file
+
+} //namespace
+
+#endif
\ No newline at end of file