Diff: SuspendedPlotter.h

Revision:

0:602ff2b2d41c

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/SuspendedPlotter.h	Mon Aug 22 10:24:23 2022 +0000
@@ -0,0 +1,51 @@
+#include "mbed.h"
+#include <PwmOut.h>
+
+class SuspendedPlotter
+{
+public:
+    SuspendedPlotter();
+    void startDraw();
+    void stopDraw();
+    void moveTo(float x, float y);
+    void unrollLeft(int steps);
+    void unrollRight(int steps);
+    void rollLeft(int steps);
+    void rollRight(int steps);
+    void reset();
+
+private:
+    class Stepper
+    {
+    public:
+        Stepper(PinName pn1, PinName pn2, PinName pn3, PinName pn4);
+        void stepTo(int dir);
+
+    private:
+        int m_step;
+        DigitalOut m_in1;
+        DigitalOut m_in2;
+        DigitalOut m_in3;
+        DigitalOut m_in4;
+    };
+
+    class Servo
+    {
+    public:
+        Servo(PinName pn1);
+        void open();
+        void close();
+        void reset();
+
+    private:
+        PwmOut m_pwm;
+        float m_pulse_width;
+    };
+
+private:
+    Stepper m_left;
+    Stepper m_right;
+    Servo m_servo;
+    float m_x;
+    float m_y;
+};