Colour sensors calibrated
Dependencies: mbed-rtos mbed Servo QEI
Fork of ICRSEurobot13 by
Actuators/Arms/Arm.h
- Committer:
- twighk
- Date:
- 2013-03-29
- Revision:
- 1:8119211eae14
- Child:
- 2:45da48fab346
File content as of revision 1:8119211eae14:
// 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; } }; */