Ryan Savitski / Mbed 2 deprecated ICRSEurobot14

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Dependencies:   mbed-rtos mbed QEI

Actuators/Arms/Arm.h@5:56a5fdd373c9, 2013-04-04 (annotated)

Committer:
madcowswe
Date:
Thu Apr 04 14:44:14 2013 +0000
Revision:
5:56a5fdd373c9
Parent:
4:1be0f6c6ceae
Child:
65:4709ff6c753c
Removed e stop button code, as power will be used through the button instead.

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 1:8119211eae14 6
madcowswe 5:56a5fdd373c9 7 class Arm : public Servo
twighk 1:8119211eae14 8 {
twighk 1:8119211eae14 9 private:
twighk 1:8119211eae14 10 bool updirn;
twighk 1:8119211eae14 11
twighk 1:8119211eae14 12 public:
twighk 4:1be0f6c6ceae 13 Arm ( PinName yellowPWM
twighk 4:1be0f6c6ceae 14 , bool upflip = false
twighk 4:1be0f6c6ceae 15 , float range = 0.0005, float degrees = 45.0
twighk 4:1be0f6c6ceae 16 )
twighk 4:1be0f6c6ceae 17 : Servo(yellowPWM)
twighk 4:1be0f6c6ceae 18 {
twighk 1:8119211eae14 19 calibrate(range, degrees);
twighk 1:8119211eae14 20 updirn = upflip;
twighk 1:8119211eae14 21 }
twighk 1:8119211eae14 22
twighk 1:8119211eae14 23 void operator()(float in) {
twighk 1:8119211eae14 24 write(in);
twighk 1:8119211eae14 25 }
twighk 1:8119211eae14 26
twighk 1:8119211eae14 27 void clockwise() { // full lock clockwise
twighk 1:8119211eae14 28 write(updirn?1:0);
twighk 1:8119211eae14 29 }
twighk 1:8119211eae14 30
twighk 1:8119211eae14 31 void anticlockwise() { // full lock anticlockwise
twighk 1:8119211eae14 32 write(updirn?0:1);
twighk 1:8119211eae14 33 }
twighk 1:8119211eae14 34
twighk 2:45da48fab346 35 virtual void halt() { // servo applies no force
madcowswe 5:56a5fdd373c9 36 //DigitalOut myled(LED3);
madcowswe 5:56a5fdd373c9 37 //myled = 1;
twighk 1:8119211eae14 38 _pwm = 0;
twighk 1:8119211eae14 39 }
twighk 1:8119211eae14 40 };
twighk 1:8119211eae14 41
twighk 1:8119211eae14 42
twighk 1:8119211eae14 43 /*
twighk 1:8119211eae14 44 class Servo{
twighk 1:8119211eae14 45 private:
twighk 1:8119211eae14 46 PwmOut PWM;
twighk 1:8119211eae14 47
twighk 1:8119211eae14 48 public:
twighk 1:8119211eae14 49 Servo(PinName pin1) : PWM(pin1){
twighk 1:8119211eae14 50 }
twighk 1:8119211eae14 51
twighk 1:8119211eae14 52 void operator()(float in){
twighk 1:8119211eae14 53 PWM = in;
twighk 1:8119211eae14 54 }
twighk 1:8119211eae14 55
twighk 1:8119211eae14 56 void clockwise() { // full lock clockwise
twighk 1:8119211eae14 57 PWM = .135;
twighk 1:8119211eae14 58 }
twighk 1:8119211eae14 59
twighk 1:8119211eae14 60 void anticlockwise() { // full lock anticlockwise
twighk 1:8119211eae14 61 PWM = .025;
twighk 1:8119211eae14 62 }
twighk 1:8119211eae14 63
twighk 1:8119211eae14 64 void relax() { // servo applies no force
twighk 1:8119211eae14 65 PWM = 0;
twighk 1:8119211eae14 66 }
twighk 1:8119211eae14 67
twighk 1:8119211eae14 68 };
twighk 1:8119211eae14 69 */