Diff: RobotArm.h

Revision:

5:36916b1c5a06

Parent:

4:36a4eceb1b7f

Child:

7:6723f6887d00

--- a/RobotArm.h	Wed Dec 23 18:34:06 2015 +0000
+++ b/RobotArm.h	Mon Dec 28 17:19:37 2015 +0000
@@ -56,7 +56,10 @@
 
     // start - move all parts to specified postions - finish
     bool MoveArmPositionsEnd();
-
+    
+    // start - test if positions are close to expected
+    bool TestArmPosition(int& partix, float& diffpos);
+    
     // move one part to specified postion in ms time
     bool MovePartPosition(int partIx, float position, int ms, int steps);
     
@@ -113,6 +116,11 @@
     // for thread friendly moves
     vector<float> lastpos;
     vector<float> differentials;
+    vector<float> lastgoals;
+    
+    // allowance for difference between expected pos and actual pos
+    static const float allowance = 1.0f;
+    
     int numsteps;
     int curstep;
     int delayms;