Diff: front_arms.h

Revision:

23:1901cb6d0d95

Parent:

21:15da49f18c63

--- a/front_arms.h	Thu May 03 14:20:04 2012 +0000
+++ b/front_arms.h	Fri May 04 02:50:07 2012 +0000
@@ -2,6 +2,7 @@
 #define _FRONT_ARMS_H
 
 #include "mbed.h"
+#include "Servo.h"
 
 #define LEFT_ARM_PIN p21
 #define RIGHT_ARM_PIN p24
@@ -9,14 +10,18 @@
 Servo leftServo(LEFT_ARM_PIN);
 Servo rightServo(RIGHT_ARM_PIN);
 
-void setLeftArmPosition(float degrees) {
-    if(degrees < 90) degrees = 90; // If arm moves past this angle, robot will not fit in the perimeter constraint
-    leftServo.position(degrees);
+void ArmsOpen(void) {
+    leftServo.SetPosition(1900);
+    rightServo.SetPosition(1000);
+}
+void ArmsClose(void) {
+    leftServo.SetPosition(1000);
+    rightServo.SetPosition(1900);
 }
 
-void setRightArmPosition(float degrees) {
-    if(degrees > 90) degrees = 90; // If arm moves past this angle, robot will not fit in the perimeter constraint
-    rightServo.position(degrees);
+void ArmsEnable(void) {
+    leftServo.Enable(1000,20000);
+    rightServo.Enable(1000,20000);
 }
 
 #endif // _FRONT_ARMS_H
\ No newline at end of file