AresENSEA-CDF2020
/
AresCDFMainCode
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Diff: Flag.cpp
- Revision:
- 20:7d206773f39e
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Flag.cpp Tue Oct 20 17:53:32 2020 +0000
@@ -0,0 +1,52 @@
+#include "pins.h"
+
+PwmOut servo(FLAGPIN);
+Timeout response;
+
+
+void FlagGOTO(int pos)
+{
+ servo = (pos*(0.05f)/90)+0.075f;
+}
+
+void FlagFROMGOTO(int posinit, int posfin, int pas)
+{
+ int dir = ((posfin - posinit)/abs(posfin - posinit));
+ for(int pos = posinit; pos != posfin; pos = pos + (pas*dir)) {
+ FlagGOTO(pos);
+ wait_ms(FLAGDELAY2POS);
+ }
+}
+
+void FlagCCW(void)
+{
+ FlagGOTO(90);
+ //servo = 0.125f;
+}
+
+void FlagMid(void)
+{
+ FlagGOTO(0);
+ //servo = 0.075f;
+}
+
+void FlagCW(void)
+{
+ FlagGOTO(-90);
+ //servo = 0.024f;
+}
+
+void FlagUpToInit()
+{
+ FlagFROMGOTO(0, 90, 1);
+}
+
+void FlagInitToUp()
+{
+ FlagFROMGOTO(90, 0, 1);
+}
+
+void Detonateur(float time)
+{
+ response.attach(&FlagInitToUp, time);
+}
\ No newline at end of file