control for robotic arm that can play chess using a granular gripper
Dependencies: Encoder mbed HIDScope Servo MODSERIAL
Fork of chessRobot by
Diff: actuators.cpp
- Revision:
- 87:7cc7d4d68ef7
- Parent:
- 86:a5f48ae7096e
- Child:
- 88:dd198c58f053
--- a/actuators.cpp Tue Oct 20 15:43:54 2015 +0200 +++ b/actuators.cpp Tue Oct 20 15:55:22 2015 +0200 @@ -90,9 +90,7 @@ // start the timer t.start(); - motorsEnable = true; calibrateMotors(); // start calibration procedure - motorsEnable = false; } @@ -180,6 +178,7 @@ calibrating1 = false; // done motor1SetSpeed = 0; // brake motor encoder1.setPosition(0); // set motor 1 cal angle + // move away } } if (calibrating1){ @@ -188,8 +187,10 @@ calibrating2 = false; // done motor2SetSpeed = 0; // brake motor encoder2.setPosition(0); // set motor 2 cal angle + // move away } } + writeMotors(); wait(0.2f); } safetyOn = true; // turn safety on after callibration