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/Leiste.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
EpicG10 14:b61fbd13a7c9 1 #include "Robot.h"
EpicG10 14:b61fbd13a7c9 2 #include "Declarations.h"
EpicG10 14:b61fbd13a7c9 3
EpicG10 14:b61fbd13a7c9 4
EpicG10 14:b61fbd13a7c9 5 Leiste::Leiste(){
EpicG10 14:b61fbd13a7c9 6 }
EpicG10 14:b61fbd13a7c9 7
EpicG10 14:b61fbd13a7c9 8 Leiste::Leiste(Servo* leiste){
EpicG10 14:b61fbd13a7c9 9 init(leiste);
EpicG10 14:b61fbd13a7c9 10 }
EpicG10 14:b61fbd13a7c9 11
EpicG10 14:b61fbd13a7c9 12 void Leiste::init(Servo* leiste){
EpicG10 14:b61fbd13a7c9 13 this->leiste = leiste;
EpicG10 15:915f8839fe48 14 this->leiste->calibrate(0.0025f, 180.0f);
EpicG10 14:b61fbd13a7c9 15 this->leiste->position(UP_POS);
EpicG10 14:b61fbd13a7c9 16 }
EpicG10 14:b61fbd13a7c9 17
beacon 17:4e1be70bdedb 18 int Leiste::upToDown(){
EpicG10 14:b61fbd13a7c9 19 static float pos=UP_POS;
EpicG10 14:b61fbd13a7c9 20 if(pos>DOWN_POS) {
EpicG10 14:b61fbd13a7c9 21 pos-=3;
EpicG10 14:b61fbd13a7c9 22 this->leiste->position(pos);
EpicG10 14:b61fbd13a7c9 23 return 0;
EpicG10 14:b61fbd13a7c9 24 }
EpicG10 14:b61fbd13a7c9 25 else{
EpicG10 14:b61fbd13a7c9 26 pos = UP_POS;
EpicG10 14:b61fbd13a7c9 27 return 1;
EpicG10 14:b61fbd13a7c9 28 }
EpicG10 14:b61fbd13a7c9 29 }
EpicG10 14:b61fbd13a7c9 30
beacon 17:4e1be70bdedb 31 int Leiste::downToUp(){
EpicG10 14:b61fbd13a7c9 32 static float pos=DOWN_POS;
EpicG10 15:915f8839fe48 33 if(pos<UP_POS) {
EpicG10 15:915f8839fe48 34 pos+=3;
EpicG10 14:b61fbd13a7c9 35 this->leiste->position(pos);
EpicG10 14:b61fbd13a7c9 36 return 0;
EpicG10 14:b61fbd13a7c9 37 }
EpicG10 14:b61fbd13a7c9 38 else{
EpicG10 14:b61fbd13a7c9 39 pos = DOWN_POS;
EpicG10 14:b61fbd13a7c9 40 return 1;
EpicG10 14:b61fbd13a7c9 41 }
EpicG10 14:b61fbd13a7c9 42 }