![](/media/cache/img/default_profile.jpg.50x50_q85.jpg)
This is some awesome robot code
Dependencies: mbed-rtos mbed QEI
Fork of ICRSEurobot13 by
Actuators/Arms/Arm.h
- Committer:
- twighk
- Date:
- 2013-04-03
- Revision:
- 4:1be0f6c6ceae
- Parent:
- 2:45da48fab346
- Child:
- 5:56a5fdd373c9
File content as of revision 4:1be0f6c6ceae:
// Eurobot13 WhiteArm.h #include "mbed.h" #include "Servo.h" #include "Actuators/Actuator.h" class Arm : public Servo, public Actuator { private: bool updirn; public: Arm ( PinName yellowPWM , bool upflip = false , float range = 0.0005, float degrees = 45.0 ) : Servo(yellowPWM) { calibrate(range, degrees); updirn = upflip; } void operator()(float in) { write(in); } void clockwise() { // full lock clockwise write(updirn?1:0); } void anticlockwise() { // full lock anticlockwise write(updirn?0:1); } 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 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; } }; */