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Dependencies: LedController mbed-rtos mbed NerfUSXbee Servomotor TargetManager
Diff: mbed_source/Calibrator.cpp
- Revision:
- 46:853966aab733
- Child:
- 49:4475f0760594
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed_source/Calibrator.cpp Tue Apr 11 03:49:04 2017 +0000
@@ -0,0 +1,30 @@
+#include "Calibrator.hpp"
+#include "mbed.h"
+
+Calibrator::Calibrator(Servomotor& servomotor):
+ servomotor(servomotor),
+ is_bumper_pressed(false)
+{
+}
+
+void Calibrator::calibrate()
+{
+ float angle = 50;
+
+ while(!is_bumper_pressed)
+ {
+ printf("Angle: %f\r\n", angle);
+ servomotor.set_angle(angle);
+ angle++;
+ wait_ms(25);
+ }
+ angle -= 3;
+
+ servomotor.up_angle = angle;
+}
+
+void Calibrator::on_rise()
+{
+ is_bumper_pressed = true;
+}
+
\ No newline at end of file