zhaw_st16b_pes2_10 / Mbed 2 deprecated Greifer

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Dependencies:   Servo mbed

Fork of Greifer by Giona V

Files at this revision

API Documentation at this revision

Revision 1:7ed3d8017cd4, committed 2017-05-04

Comitter:
EpicG10
Date:
Thu May 04 19:10:52 2017 +0000
Parent:
0:aace975d101e
Commit message:
h

Changed in this revision

Greifer.cpp Show annotated file Show diff for this revision Revisions of this file
Greifer.h Show annotated file Show diff for this revision Revisions of this file
main.cpp Show annotated file Show diff for this revision Revisions of this file 
diff -r aace975d101e -r 7ed3d8017cd4 Greifer.cpp
--- a/Greifer.cpp	Fri Mar 24 15:36:19 2017 +0000
+++ b/Greifer.cpp	Thu May 04 19:10:52 2017 +0000
@@ -8,21 +8,27 @@
 
 Greifer::Greifer()
 {
-    init();  
+    //init();  
 }
 
 void Greifer::init()
 {
     ServoGreifer.calibrate(0.0017f, 180.0f);
-    ServoGreifer.position(-30.0f);
+    ServoGreifer.position(60.0f);
 }
 
-void Greifer::take()
+int Greifer::leave()
 {
-    ServoGreifer.position(90.0f);
+    ServoGreifer.position(60.0f);
+    t=0;
+    l=1;
+    return l;
 }
 
-void Greifer::leave()
+int Greifer::take()
 {
-    ServoGreifer.position(-30.0f);
+    ServoGreifer.position(-150.0f);
+    t=1;
+    l=0;
+    return t;
 }
\ No newline at end of file

diff -r aace975d101e -r 7ed3d8017cd4 Greifer.h
--- a/Greifer.h	Fri Mar 24 15:36:19 2017 +0000
+++ b/Greifer.h	Thu May 04 19:10:52 2017 +0000
@@ -16,10 +16,11 @@
         Greifer();
         
         void init();
-        void take();
-        void leave();
+        int take();
+        int leave();
         
-
+ private:
+        int t,l;
 };
 
 #endif

diff -r aace975d101e -r 7ed3d8017cd4 main.cpp
--- a/main.cpp	Fri Mar 24 15:36:19 2017 +0000
+++ b/main.cpp	Thu May 04 19:10:52 2017 +0000
@@ -7,9 +7,9 @@
 while(1)
 {
     Greifer.take();
-    wait(1.0f);
+    wait(5.0f);
     Greifer.leave();
-    wait(1.0f);
+    wait(5.0f);
 }