Diff: source/Main.cpp

Revision:

93:837a13760026

Parent:

92:b2f4ed4cb1e5

Child:

94:0381e8b1beda

--- a/source/Main.cpp	Tue May 02 09:55:55 2017 +0000
+++ b/source/Main.cpp	Tue May 02 13:25:56 2017 +0000
@@ -7,6 +7,7 @@
 
 Timer game_timer;
 
+
 int main()
 {
     printf("start...\r\n");
@@ -68,11 +69,10 @@
 
             case 15:
                 state = initialisation();   //init servo is included
-                state = 103;
                 break;
             case 16:
                 state = inital_arm_positioning();
-
+                state = 50;
                 break;
             case 17:
                 state = initial_positioning();
@@ -125,30 +125,8 @@
             case 50:
                 state = grabbing();
                 break;
-            case 51:
-                state = arm_position_move();
-                break;
-            case 52:
-                arm_position_grabbing();
-                state = 56;
-                wait_ms(1000);
-                break;
-            case 53:
-                state = arm_position_release();
-                state = 55;
-                wait_ms(1000);
-                break;
 
-            case 55:
-                state = open_grabber();
-                state = 52;
-                wait_ms(1000);
-                break;
-            case 56:
-                state = close_grabber();
-                state = 53;
-                wait_ms(1000);
-                break;
+
 
                 /******************************************************************************/
 //Testtools
@@ -168,34 +146,6 @@
                 printf("Color: %s\r\n",get_color()? str1 : str2);
                 wait_ms(500);
                 state = 101;
-
-            case 102:   //Testtool for grabbing functions
-                arm_position_release();
-                wait_ms(500);
-                open_grabber();
-                wait_ms(500);
-                arm_position_grabbing();
-                wait_ms(1000);
-                move_for_distance(5.0);
-                close_grabber();
-                wait_ms(500);
-                if (get_color() == 0) {
-                    open_grabber();
-                    move_for_distance(-5.0);
-                }
-                wait_ms(500);
-                state = 102;
-                break;
-
-            case 103:
-                move_for_distance(-1.00f);
-                state = 104;
-                break;
-            case 104:
-                if(move_for_distance(0) < 0.0f) {
-                    stop_move();
-                    state = 0;
-                }
                 break;
         }
     }