This is some awesome robot code
Dependencies: mbed-rtos mbed QEI
Fork of ICRSEurobot13 by
Actuators/Arms/Arm.h
- Committer:
- madcowswe
- Date:
- 2013-04-17
- Revision:
- 90:e4164bb8c60e
- Parent:
- 65:4709ff6c753c
File content as of revision 90:e4164bb8c60e:
#ifndef EUROBOT_ACTUATORS_ARMS_ARM_H_ #define EUROBOT_ACTUATORS_ARMS_ARM_H_ #include "mbed.h" namespace arm { class Arm; extern Arm lower_arm; extern Arm upper_arm; class Arm { public: 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 go_up() { pwm_.pulsewidth_us(max_pos_*1000); } void go_down() { pwm_.pulsewidth_us(min_pos_*1000); } private: PwmOut pwm_; float period_; float min_pos_; float max_pos_; }; } //namespace #endif