File content as of revision 0:655e1fcb96be:

#include "mbed.h"

PwmOut pwmarm(PC_6);
PwmOut pwmhand(PC_8);

float PERIOD=20000;

void close_hand(void) {
     int i,degree;

    pwmhand.period_ms(20);        //20ms
    
        degree=175;

        i=500+degree*1900/180;
        pwmhand.pulsewidth_us(i); 
        
        
}

void close_arm(void) {
    int i,degree;

   pwmarm.period_ms(20);        //20ms
   
       degree=160;

       i=500+degree*1900/180;
       pwmarm.write(i/PERIOD); 
       
       
}


void open_hand(void) {
    int i,degree;

   pwmhand.period_ms(20);        //20ms
   
       degree=90;

       i=500+degree*1900/180;
       pwmhand.write(i/PERIOD); 
       
       
}



void open_arm(void) {
    int i,degree;

   pwmarm.period_ms(20);        //20ms
   
       degree=10;

       i=500+degree*1900/180;
       pwmarm.write(i/PERIOD); 
       
       
}