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@2:45da48fab346, 2013-03-29 (annotated)

Committer:
twighk
Date:
Fri Mar 29 20:09:21 2013 +0000
Revision:
2:45da48fab346
Parent:
1:8119211eae14
Child:
4:1be0f6c6ceae
Emergency Stop Button, Derive all actuator classes from the base class, and implement a virtual halt function that releases power from them

Who changed what in which revision?

UserRevisionLine numberNew 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 1:8119211eae14 14 Arm(PinName yellow, bool upflip = false, float range = 0.0005, float degrees = 45.0) : Servo(yellow) {
twighk 1:8119211eae14 15 calibrate(range, degrees);
twighk 1:8119211eae14 16 updirn = upflip;
twighk 1:8119211eae14 17 }
twighk 1:8119211eae14 18
twighk 1:8119211eae14 19 void operator()(float in) {
twighk 1:8119211eae14 20 write(in);
twighk 1:8119211eae14 21 }
twighk 1:8119211eae14 22
twighk 1:8119211eae14 23 void clockwise() { // full lock clockwise
twighk 1:8119211eae14 24 write(updirn?1:0);
twighk 1:8119211eae14 25 }
twighk 1:8119211eae14 26
twighk 1:8119211eae14 27 void anticlockwise() { // full lock anticlockwise
twighk 1:8119211eae14 28 write(updirn?0:1);
twighk 1:8119211eae14 29 }
twighk 1:8119211eae14 30
twighk 2:45da48fab346 31 virtual void halt() { // servo applies no force
twighk 2:45da48fab346 32 DigitalOut myled(LED3);
twighk 2:45da48fab346 33 myled = 1;
twighk 1:8119211eae14 34 _pwm = 0;
twighk 1:8119211eae14 35 }
twighk 1:8119211eae14 36 };
twighk 1:8119211eae14 37
twighk 1:8119211eae14 38
twighk 1:8119211eae14 39 /*
twighk 1:8119211eae14 40 class Servo{
twighk 1:8119211eae14 41 private:
twighk 1:8119211eae14 42 PwmOut PWM;
twighk 1:8119211eae14 43
twighk 1:8119211eae14 44 public:
twighk 1:8119211eae14 45 Servo(PinName pin1) : PWM(pin1){
twighk 1:8119211eae14 46 }
twighk 1:8119211eae14 47
twighk 1:8119211eae14 48 void operator()(float in){
twighk 1:8119211eae14 49 PWM = in;
twighk 1:8119211eae14 50 }
twighk 1:8119211eae14 51
twighk 1:8119211eae14 52 void clockwise() { // full lock clockwise
twighk 1:8119211eae14 53 PWM = .135;
twighk 1:8119211eae14 54 }
twighk 1:8119211eae14 55
twighk 1:8119211eae14 56 void anticlockwise() { // full lock anticlockwise
twighk 1:8119211eae14 57 PWM = .025;
twighk 1:8119211eae14 58 }
twighk 1:8119211eae14 59
twighk 1:8119211eae14 60 void relax() { // servo applies no force
twighk 1:8119211eae14 61 PWM = 0;
twighk 1:8119211eae14 62 }
twighk 1:8119211eae14 63
twighk 1:8119211eae14 64 };
twighk 1:8119211eae14 65 */