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Dependencies: Servo ServoArm mbed
Fork of PES_Official by
Sources/Greifer.cpp@12:c0bcb95885dd, 2017-05-10 (annotated)
- Committer:
- beacon
- Date:
- Wed May 10 13:30:13 2017 +0000
- Revision:
- 12:c0bcb95885dd
- Parent:
- 11:292bdbd85a9c
- Child:
- 13:6c1f8e35b242
k
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
beacon | 10:f76476943a6c | 1 | #include "Robot.h" |
beacon | 10:f76476943a6c | 2 | #include "Declarations.h" |
beacon | 10:f76476943a6c | 3 | |
beacon | 10:f76476943a6c | 4 | |
beacon | 10:f76476943a6c | 5 | |
beacon | 10:f76476943a6c | 6 | |
beacon | 10:f76476943a6c | 7 | |
beacon | 10:f76476943a6c | 8 | |
beacon | 10:f76476943a6c | 9 | Greifer::Greifer(Servo* greifer) |
beacon | 10:f76476943a6c | 10 | { |
beacon | 10:f76476943a6c | 11 | init(greifer); |
beacon | 10:f76476943a6c | 12 | } |
beacon | 10:f76476943a6c | 13 | |
beacon | 10:f76476943a6c | 14 | Greifer::Greifer() |
beacon | 10:f76476943a6c | 15 | { |
beacon | 10:f76476943a6c | 16 | |
beacon | 10:f76476943a6c | 17 | } |
beacon | 10:f76476943a6c | 18 | |
beacon | 10:f76476943a6c | 19 | void Greifer::init(Servo* greifer) |
beacon | 10:f76476943a6c | 20 | { |
beacon | 10:f76476943a6c | 21 | this->greifer = greifer; |
beacon | 12:c0bcb95885dd | 22 | greifer->calibrate(0.0017f, 180.0f); |
beacon | 12:c0bcb95885dd | 23 | greifer->position(60.0f); |
beacon | 10:f76476943a6c | 24 | } |
beacon | 10:f76476943a6c | 25 | |
beacon | 11:292bdbd85a9c | 26 | int Greifer::take() |
beacon | 10:f76476943a6c | 27 | { |
beacon | 10:f76476943a6c | 28 | this->greifer->position(-150.0f); |
beacon | 11:292bdbd85a9c | 29 | static int time = 0; |
beacon | 11:292bdbd85a9c | 30 | if( time < 10 ){ |
beacon | 11:292bdbd85a9c | 31 | time++; |
beacon | 11:292bdbd85a9c | 32 | return 0; |
beacon | 11:292bdbd85a9c | 33 | } |
beacon | 11:292bdbd85a9c | 34 | else{ |
beacon | 12:c0bcb95885dd | 35 | time = 0; |
beacon | 11:292bdbd85a9c | 36 | return 1; |
beacon | 11:292bdbd85a9c | 37 | } |
beacon | 10:f76476943a6c | 38 | } |
beacon | 10:f76476943a6c | 39 | |
beacon | 11:292bdbd85a9c | 40 | int Greifer::leave() |
beacon | 10:f76476943a6c | 41 | { |
beacon | 12:c0bcb95885dd | 42 | this->greifer->position(60.0f); |
beacon | 11:292bdbd85a9c | 43 | static int time = 0; |
beacon | 11:292bdbd85a9c | 44 | if( time < 10 ){ |
beacon | 11:292bdbd85a9c | 45 | time++; |
beacon | 11:292bdbd85a9c | 46 | return 0; |
beacon | 11:292bdbd85a9c | 47 | } |
beacon | 11:292bdbd85a9c | 48 | else{ |
beacon | 12:c0bcb95885dd | 49 | time = 0; |
beacon | 11:292bdbd85a9c | 50 | return 1; |
beacon | 11:292bdbd85a9c | 51 | } |
beacon | 10:f76476943a6c | 52 | } |