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Dependencies: Servo ServoArm mbed
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Diff: Sources/Arm.cpp
- Revision:
- 11:292bdbd85a9c
- Parent:
- 10:f76476943a6c
- Child:
- 12:c0bcb95885dd
--- a/Sources/Arm.cpp Wed May 03 13:54:51 2017 +0000 +++ b/Sources/Arm.cpp Sat May 06 13:33:23 2017 +0000 @@ -16,46 +16,50 @@ this->arm->position(COLLECT_POS); } -void Arm::collecttodown(int* done){ +int Arm::collectToDown(){ static float pos=COLLECT_POS; if(pos>TAKE_POS) { - pos-=1; + pos-=3; this->arm->position(pos); + return 0; } else{ - *done = 1; + return 1; } } -void Arm::downtocollect(int* done){ +int Arm::downToCollect(){ static float pos=TAKE_POS; if(pos<COLLECT_POS) { - pos+=1; + pos+=3; this->arm->position(pos); - } + return 0; + } else{ - *done = 1; + return 1; } } -void Arm::collecttoback(int* done){ +int Arm::collectToBack(){ static float pos=COLLECT_POS; if(pos<RELEASE_POS) { - pos+=1; + pos+=3; this->arm->position(pos); + return 0; } else{ - *done = 1; + return 1; } } -void Arm::backtocollect(int* done){ +int Arm::backToCollect(){ static float pos=RELEASE_POS; if(pos>COLLECT_POS) { - pos-=1; + pos-=3; this->arm->position(pos); + return 0; } else{ - *done = 1; + return 1; } } \ No newline at end of file