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This is some awesome robot code
Dependencies: mbed-rtos mbed QEI
Fork of ICRSEurobot13 by
Actuators/Arms/Arm.h@4:1be0f6c6ceae, 2013-04-03 (annotated)
- Committer:
- twighk
- Date:
- Wed Apr 03 17:54:53 2013 +0000
- Revision:
- 4:1be0f6c6ceae
- Parent:
- 2:45da48fab346
- Child:
- 5:56a5fdd373c9
State on 3rd of april
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
twighk | 1:8119211eae14 | 1 | |
twighk | 1:8119211eae14 | 2 | // Eurobot13 WhiteArm.h |
twighk | 1:8119211eae14 | 3 | |
twighk | 1:8119211eae14 | 4 | #include "mbed.h" |
twighk | 1:8119211eae14 | 5 | #include "Servo.h" |
twighk | 2:45da48fab346 | 6 | #include "Actuators/Actuator.h" |
twighk | 1:8119211eae14 | 7 | |
twighk | 2:45da48fab346 | 8 | class Arm : public Servo, public Actuator |
twighk | 1:8119211eae14 | 9 | { |
twighk | 1:8119211eae14 | 10 | private: |
twighk | 1:8119211eae14 | 11 | bool updirn; |
twighk | 1:8119211eae14 | 12 | |
twighk | 1:8119211eae14 | 13 | public: |
twighk | 4:1be0f6c6ceae | 14 | Arm ( PinName yellowPWM |
twighk | 4:1be0f6c6ceae | 15 | , bool upflip = false |
twighk | 4:1be0f6c6ceae | 16 | , float range = 0.0005, float degrees = 45.0 |
twighk | 4:1be0f6c6ceae | 17 | ) |
twighk | 4:1be0f6c6ceae | 18 | : Servo(yellowPWM) |
twighk | 4:1be0f6c6ceae | 19 | { |
twighk | 1:8119211eae14 | 20 | calibrate(range, degrees); |
twighk | 1:8119211eae14 | 21 | updirn = upflip; |
twighk | 1:8119211eae14 | 22 | } |
twighk | 1:8119211eae14 | 23 | |
twighk | 1:8119211eae14 | 24 | void operator()(float in) { |
twighk | 1:8119211eae14 | 25 | write(in); |
twighk | 1:8119211eae14 | 26 | } |
twighk | 1:8119211eae14 | 27 | |
twighk | 1:8119211eae14 | 28 | void clockwise() { // full lock clockwise |
twighk | 1:8119211eae14 | 29 | write(updirn?1:0); |
twighk | 1:8119211eae14 | 30 | } |
twighk | 1:8119211eae14 | 31 | |
twighk | 1:8119211eae14 | 32 | void anticlockwise() { // full lock anticlockwise |
twighk | 1:8119211eae14 | 33 | write(updirn?0:1); |
twighk | 1:8119211eae14 | 34 | } |
twighk | 1:8119211eae14 | 35 | |
twighk | 2:45da48fab346 | 36 | virtual void halt() { // servo applies no force |
twighk | 2:45da48fab346 | 37 | DigitalOut myled(LED3); |
twighk | 2:45da48fab346 | 38 | myled = 1; |
twighk | 1:8119211eae14 | 39 | _pwm = 0; |
twighk | 1:8119211eae14 | 40 | } |
twighk | 1:8119211eae14 | 41 | }; |
twighk | 1:8119211eae14 | 42 | |
twighk | 1:8119211eae14 | 43 | |
twighk | 1:8119211eae14 | 44 | /* |
twighk | 1:8119211eae14 | 45 | class Servo{ |
twighk | 1:8119211eae14 | 46 | private: |
twighk | 1:8119211eae14 | 47 | PwmOut PWM; |
twighk | 1:8119211eae14 | 48 | |
twighk | 1:8119211eae14 | 49 | public: |
twighk | 1:8119211eae14 | 50 | Servo(PinName pin1) : PWM(pin1){ |
twighk | 1:8119211eae14 | 51 | } |
twighk | 1:8119211eae14 | 52 | |
twighk | 1:8119211eae14 | 53 | void operator()(float in){ |
twighk | 1:8119211eae14 | 54 | PWM = in; |
twighk | 1:8119211eae14 | 55 | } |
twighk | 1:8119211eae14 | 56 | |
twighk | 1:8119211eae14 | 57 | void clockwise() { // full lock clockwise |
twighk | 1:8119211eae14 | 58 | PWM = .135; |
twighk | 1:8119211eae14 | 59 | } |
twighk | 1:8119211eae14 | 60 | |
twighk | 1:8119211eae14 | 61 | void anticlockwise() { // full lock anticlockwise |
twighk | 1:8119211eae14 | 62 | PWM = .025; |
twighk | 1:8119211eae14 | 63 | } |
twighk | 1:8119211eae14 | 64 | |
twighk | 1:8119211eae14 | 65 | void relax() { // servo applies no force |
twighk | 1:8119211eae14 | 66 | PWM = 0; |
twighk | 1:8119211eae14 | 67 | } |
twighk | 1:8119211eae14 | 68 | |
twighk | 1:8119211eae14 | 69 | }; |
twighk | 1:8119211eae14 | 70 | */ |