Diff: Actuators/Arms/Arm.h

Revision:

1:8119211eae14

Child:

2:45da48fab346

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Actuators/Arms/Arm.h	Fri Mar 29 16:28:56 2013 +0000
@@ -0,0 +1,62 @@
+
+// Eurobot13 WhiteArm.h
+
+#include "mbed.h"
+#include "Servo.h"
+
+class Arm : public Servo
+{
+private:
+    bool updirn;
+
+public:
+    Arm(PinName yellow, bool upflip = false, float range = 0.0005, float degrees = 45.0) : Servo(yellow) {
+        calibrate(range, degrees);
+        updirn = upflip;
+    }
+
+    void operator()(float in) {
+        write(in);
+    }
+
+    void clockwise() { // full lock clockwise
+        write(updirn?1:0);
+    }
+
+    void anticlockwise() { // full lock anticlockwise
+        write(updirn?0:1);
+    }
+    
+    void relax() { // servo applies no force
+        _pwm = 0;
+    }
+};
+
+
+/*
+class Servo{
+    private:
+    PwmOut PWM;
+
+    public:
+    Servo(PinName pin1) : PWM(pin1){
+    }
+
+    void operator()(float in){
+        PWM = in;
+    }
+
+    void clockwise() { // full lock clockwise
+        PWM = .135;
+    }
+
+    void anticlockwise() { // full lock anticlockwise
+        PWM = .025;
+    }
+
+    void relax() { // servo applies no force
+        PWM = 0;
+    }
+
+};
+*/
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