Turret Class Reference

TALAS rotating turret with laser gun. More...

#include <Turret.h>

Public Member Functions
	Turret ()
	Constructor.
void	attach (uint8_t pinLaser)
	Attach turret with laser gun only. More...
void	attach (uint8_t pinLaser, uint8_t pinH, uint8_t pinV)
	Attach movable turret with laser gun. More...
void	setRange (uint8_t minH, uint8_t maxH, uint8_t minV, uint8_t maxV)
	Set servos angle range. More...
void	setDelta (uint8_t dH, uint8_t dV)
	Set servos angle increment/decrement value. More...
void	enable ()
	Enable turret.
void	disable ()
	Disable turret.
void	reset ()
	Reset turret. More...
uint8_t	getH ()
	Get current horizontal position. More...
uint8_t	getV ()
	Get current vertical position. More...
void	up ()
	Rotate turret up.
void	down ()
	Rotate turret down.
void	left ()
	Rotate turret left.
void	right ()
	Rotate turret right.
void	impulse (unsigned long length)
	Fire laser gun. More...

Public Attributes
uint8_t	h0
	Initial horizontal angle.
uint8_t	v0
	Initial vertical angle.

Detailed Description

TALAS rotating turret with laser gun.

Member Function Documentation

attach() [1/2]

void Turret::attach

(

uint8_t

pinLaser

)

Attach turret with laser gun only.

Parameters

pinLaser

pin for laser gun.

Referenced by attach(), and Talas::attachTurret().

attach() [2/2]

void Turret::attach	(	uint8_t	pinLaser,
		uint8_t	pinH,
		uint8_t	pinV
	)

Attach movable turret with laser gun.

Parameters

pinLaser	pin for laser gun.
pinH	pin for horizontal servo.
pinV	pin for vertical servo.

References attach().

getH()

uint8_t Turret::getH

(

)

Get current horizontal position.

Returns

Horizontal angle (degrees).

Referenced by Talas::dispatch(), and Talas::slower().

getV()

uint8_t Turret::getV

(

)

Get current vertical position.

Returns

Vertical angle (degrees).

Referenced by Talas::dispatch(), and Talas::slower().

impulse()

void Turret::impulse

(

unsigned long

length

)

Fire laser gun.

Emit a laser impulse with specified length in ms.

Parameters

length

impulse length (ms).

Referenced by Talas::fire().

reset()

void Turret::reset

(

)

Reset turret.

Turn to the initial position.

References h0, and v0.

Referenced by Talas::attachTurret(), Talas::dispatch(), and Talas::slower().

setDelta()

void Turret::setDelta	(	uint8_t	dH,
		uint8_t	dV
	)

Set servos angle increment/decrement value.

Parameters

dH,dV

new increment/decrement values.

Referenced by Talas::slower().

setRange()

void Turret::setRange	(	uint8_t	minH,
		uint8_t	maxH,
		uint8_t	minV,
		uint8_t	maxV
	)

Set servos angle range.

Parameters

minH,maxH	horizontal range.
minV,maxV	vertical range.

Referenced by Talas::slower().

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The documentation for this class was generated from the following files:

• lib/Talas/src/Turret.h
• lib/Talas/src/Turret.cpp