Gripper Class

The gripper class controls the servo which is attached to a gripping device which can open or close. Two frequencies for the servo are set which determine the open and close angle for the gripper.

.cpp Code

include <gripper.h>
#include <arduino.h>
#define open_angle 90
# define close_angle 0

gripper :: gripper(unsinged int pin){
	m_gripper = new MegaServo;
	m_gripper -> attach(pin,800,2200);  // The frequencies at which the gripper is open or closed
	m_gripper -> write(open_angle);
	m_position = 1;
	}

void gripper :: open(){
	if(m_position)
		return;
	else{
		m_gripper -> write(open_angle);
		m_postion = 1;
		}
	}

void gripper :: close(){
	if(!m_position)
		return;
	else{
		m_gripper -> write(close_angle);
		m_position = 0;
		}
	}

.h Code

#include <RangeFinder.h>
#ifndef gripper_h
#define gripper_h
#include <MegaServo.h>

class gripper{
private:
	bool m_position;   // The position is either on or off
	MegaServo*m_gripper; //points to the class MegaServo

public:
	gripper(unsigned int pin); //Constructor, pin to which it is attached
	void open(); //no return
	void close(); //no return
	bool isOpen(); //returns what state the gripper is in
};

#endif