Creation of Gripper Class #5
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afr2903
requested changes
Mar 23, 2025
Gripper Class/Gripper.cpp
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| /* | |||
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Remove "Class" from the folder name, just Gripper
| #define SERVO_PIN 9 | ||
| #define IN1 7 | ||
| #define IN2 8 | ||
| #define PWM 6 |
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When we pull changes from dev, move this to Pin class made by hector
Gripper Class/Gripper.h
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| // Class methods | ||
| void attach(); // Configure the pins and connect the servo | ||
| void open(); // Moves servo to open position (90°) |
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According to the C++ style guide functions should be named as CamelCase
Gripper Class/Gripper.h
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| private: | ||
| Servo servo; // Servo object to control the servo | ||
| int in1, in2, pwm; // Control pins for the motor | ||
| int servoPin; // Pin connected to servo |
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According to the C++ style guide variables which are data class members should be named as snake_case_ (note the trailing underscore)
Gripper Class/Gripper.cpp
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| : servoPin(servoPin), in1(in1), in2(in2), pwm(pwm) {} | ||
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| // Method to configure the gripper pins | ||
| void Gripper::attach() { |
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I'd change this to init since attach is not a very intuitive name
Gripper Class/Gripper.cpp
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| digitalWrite(in1, HIGH); // Activate motor direction | ||
| digitalWrite(in2, LOW); // Set the direction of rotation | ||
| analogWrite(pwm, 255); | ||
| delay(3000); |
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Put the delay time in a constant defined in theGripper.h class, to change the duration directly in the constant if desired
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