Ryan Savitski / Mbed 2 deprecated ICRSEurobot14

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Dependencies:   mbed-rtos mbed QEI

Actuators/Arms/Arm.h@1:8119211eae14, 2013-03-29 (annotated)

Committer:
twighk
Date:
Fri Mar 29 16:28:56 2013 +0000
Revision:
1:8119211eae14
Child:
2:45da48fab346
Arms / servos

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
twighk 1:8119211eae14 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 1:8119211eae14 13 Arm(PinName yellow, bool upflip = false, float range = 0.0005, float degrees = 45.0) : Servo(yellow) {
twighk 1:8119211eae14 14 calibrate(range, degrees);
twighk 1:8119211eae14 15 updirn = upflip;
twighk 1:8119211eae14 16 }
twighk 1:8119211eae14 17
twighk 1:8119211eae14 18 void operator()(float in) {
twighk 1:8119211eae14 19 write(in);
twighk 1:8119211eae14 20 }
twighk 1:8119211eae14 21
twighk 1:8119211eae14 22 void clockwise() { // full lock clockwise
twighk 1:8119211eae14 23 write(updirn?1:0);
twighk 1:8119211eae14 24 }
twighk 1:8119211eae14 25
twighk 1:8119211eae14 26 void anticlockwise() { // full lock anticlockwise
twighk 1:8119211eae14 27 write(updirn?0:1);
twighk 1:8119211eae14 28 }
twighk 1:8119211eae14 29
twighk 1:8119211eae14 30 void relax() { // servo applies no force
twighk 1:8119211eae14 31 _pwm = 0;
twighk 1:8119211eae14 32 }
twighk 1:8119211eae14 33 };
twighk 1:8119211eae14 34
twighk 1:8119211eae14 35
twighk 1:8119211eae14 36 /*
twighk 1:8119211eae14 37 class Servo{
twighk 1:8119211eae14 38 private:
twighk 1:8119211eae14 39 PwmOut PWM;
twighk 1:8119211eae14 40
twighk 1:8119211eae14 41 public:
twighk 1:8119211eae14 42 Servo(PinName pin1) : PWM(pin1){
twighk 1:8119211eae14 43 }
twighk 1:8119211eae14 44
twighk 1:8119211eae14 45 void operator()(float in){
twighk 1:8119211eae14 46 PWM = in;
twighk 1:8119211eae14 47 }
twighk 1:8119211eae14 48
twighk 1:8119211eae14 49 void clockwise() { // full lock clockwise
twighk 1:8119211eae14 50 PWM = .135;
twighk 1:8119211eae14 51 }
twighk 1:8119211eae14 52
twighk 1:8119211eae14 53 void anticlockwise() { // full lock anticlockwise
twighk 1:8119211eae14 54 PWM = .025;
twighk 1:8119211eae14 55 }
twighk 1:8119211eae14 56
twighk 1:8119211eae14 57 void relax() { // servo applies no force
twighk 1:8119211eae14 58 PWM = 0;
twighk 1:8119211eae14 59 }
twighk 1:8119211eae14 60
twighk 1:8119211eae14 61 };
twighk 1:8119211eae14 62 */