TreppenRobo / Mbed OS PrototypV2

Prototyp V2

Dependencies:   PM2_Libary

Diff: main.cpp

Revision:
73:f415e1fa1ad9
Parent:
68:e3fc5ed0bc0e
Child:
74:d7569d530f6c
diff -r 45aabef19da9 -r f415e1fa1ad9 main.cpp
--- a/main.cpp	Wed Apr 27 09:49:02 2022 +0200
+++ b/main.cpp	Wed Apr 27 10:11:03 2022 +0200
@@ -168,6 +168,7 @@
 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 relativ_turns_arm = turn_absolut_deg(position_lift_end_deg, positionController_M_Arm.getRotation());
     
     enable_motors = 1;
     positionController_M_Arm.setDesiredRotation(0, max_speed_rps_arm);