zhaw_st16b_pes2_10 / Mbed 2 deprecated PES_Official-US

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Dependencies:   Servo ServoArm mbed

Fork of PES_Official-TestF by zhaw_st16b_pes2_10

Sources/Greifer.cpp@18:a158713a0049, 2017-05-19 (annotated)

Committer:
EpicG10
Date:
Fri May 19 06:40:33 2017 +0000
Revision:
18:a158713a0049
Parent:
17:4e1be70bdedb 
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Who changed what in which revision?

UserRevisionLine numberNew 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 17:4e1be70bdedb 22 greifer->calibrate(0.001f, 90.0f);
beacon 17:4e1be70bdedb 23 greifer->position(65.0f);
beacon 10:f76476943a6c 24 }
beacon 10:f76476943a6c 25
beacon 11:292bdbd85a9c 26 int Greifer::take()
EpicG10 13:6c1f8e35b242 27
beacon 10:f76476943a6c 28 {
beacon 17:4e1be70bdedb 29 this->greifer->position(-70.0f);
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 17:4e1be70bdedb 43 this->greifer->position(65.0f);
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 }
EpicG10 15:915f8839fe48 53 }
EpicG10 15:915f8839fe48 54
EpicG10 15:915f8839fe48 55 void Greifer::nullPos()
EpicG10 15:915f8839fe48 56 {
EpicG10 15:915f8839fe48 57 this->greifer->position(0.0f);
beacon 10:f76476943a6c 58 }