TreppenRobo
Prototyp V2
Dependencies: PM2_Libary
Diff: main.cpp
- Branch:
- michi
- Revision:
- 78:44291588a875
- Parent:
- 77:508d8fda4aa0
- Child:
- 79:368cbf09cf6a
--- a/main.cpp Wed Apr 27 10:57:11 2022 +0200
+++ b/main.cpp Wed Apr 27 10:59:11 2022 +0200
@@ -199,7 +199,7 @@
//turns the arm until the robot is on the next step
void lift_up()
{
- float position_lift_end_deg = asin((-dist_arm_ground - (dist_grappleratt_grappler_uk-gripper_area_height)) / arm_length) - 90; // calculates the degree which has to be reached in order to get on top of next step
+ float position_lift_end_deg = calc_pos_end_lift(); // calculates the degree which has to be reached in order to get on top of next step
float absolut_pos_arm = turn_absolut_deg(position_lift_end_deg, positionController_M_Arm.getRotation());
enable_motors = 1;