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Dependencies: Servo ServoArm mbed
Fork of PES_Official-TestF by
Sources/Greifer.cpp@13:6c1f8e35b242, 2017-05-10 (annotated)
- Committer:
- EpicG10
- Date:
- Wed May 10 16:53:01 2017 +0000
- Revision:
- 13:6c1f8e35b242
- Parent:
- 12:c0bcb95885dd
- Child:
- 15:915f8839fe48
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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() |
EpicG10 | 13:6c1f8e35b242 | 27 | |
beacon | 10:f76476943a6c | 28 | { |
beacon | 10:f76476943a6c | 29 | this->greifer->position(-150.0f); |
beacon | 11:292bdbd85a9c | 30 | static int time = 0; |
beacon | 11:292bdbd85a9c | 31 | if( time < 10 ){ |
beacon | 11:292bdbd85a9c | 32 | time++; |
beacon | 11:292bdbd85a9c | 33 | return 0; |
beacon | 11:292bdbd85a9c | 34 | } |
beacon | 11:292bdbd85a9c | 35 | else{ |
beacon | 12:c0bcb95885dd | 36 | time = 0; |
beacon | 11:292bdbd85a9c | 37 | return 1; |
beacon | 11:292bdbd85a9c | 38 | } |
beacon | 10:f76476943a6c | 39 | } |
beacon | 10:f76476943a6c | 40 | |
beacon | 11:292bdbd85a9c | 41 | int Greifer::leave() |
beacon | 10:f76476943a6c | 42 | { |
beacon | 12:c0bcb95885dd | 43 | this->greifer->position(60.0f); |
beacon | 11:292bdbd85a9c | 44 | static int time = 0; |
beacon | 11:292bdbd85a9c | 45 | if( time < 10 ){ |
beacon | 11:292bdbd85a9c | 46 | time++; |
beacon | 11:292bdbd85a9c | 47 | return 0; |
beacon | 11:292bdbd85a9c | 48 | } |
beacon | 11:292bdbd85a9c | 49 | else{ |
beacon | 12:c0bcb95885dd | 50 | time = 0; |
beacon | 11:292bdbd85a9c | 51 | return 1; |
beacon | 11:292bdbd85a9c | 52 | } |
beacon | 10:f76476943a6c | 53 | } |