ICRS Eurobot 2013
Dependencies: mbed mbed-rtos Servo QEI
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; + } + +}; +*/ \ No newline at end of file