1 | /*
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2 | Braccio.h - board library Version 1.1
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3 | Written by Andrea Martino
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4 |
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5 | This library is free software; you can redistribute it and/or
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6 | modify it under the terms of the GNU Lesser General Public
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7 | License as published by the Free Software Foundation; either
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8 | version 2.1 of the License, or (at your option) any later version.
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9 |
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10 | This library is distributed in the hope that it will be useful,
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11 | but WITHOUT ANY WARRANTY; without even the implied warranty of
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12 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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13 | Lesser General Public License for more details.
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14 |
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15 | You should have received a copy of the GNU Lesser General Public
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16 | License along with this library; if not, write to the Free Software
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17 | Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
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18 | */
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19 |
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20 | #ifndef BRACCIO_H_
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21 | #define BRACCIO_H_
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22 |
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23 | #include <Arduino.h>
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24 | #include <Servo.h>
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25 |
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26 | class _Braccio {
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27 |
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28 | public:
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29 | _Braccio();
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30 |
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31 | /**
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32 | * Braccio initializations and set intial position
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33 | * Modifing this function you can set up the initial position of all the
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34 | * servo motors of the Braccio
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35 | */
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36 | unsigned int begin();
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37 |
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38 | /**
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39 | * This functions allow you to control all the servo motors in the Braccio
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40 | */
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41 | int ServoMovement(int delay, int Vbase,int Vshoulder, int Velbow, int Vwrist_ver, int Vwrist_rot, int Vgripper);
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42 |
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43 |
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44 | };
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45 |
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46 | extern _Braccio Braccio;
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47 |
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48 | #endif // BRACCIO_H_
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