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

Diff: Sources/Greifer.cpp

Revision:
11:292bdbd85a9c
Parent:
10:f76476943a6c
Child:
12:c0bcb95885dd
--- a/Sources/Greifer.cpp	Wed May 03 13:54:51 2017 +0000
+++ b/Sources/Greifer.cpp	Sat May 06 13:33:23 2017 +0000
@@ -23,12 +23,28 @@
     greifer->position(85.0f);
 }
 
-void Greifer::take()
+int Greifer::take()
 {
     this->greifer->position(-150.0f);
+    static int time = 0;
+    if( time < 10 ){
+        time++;
+        return 0;
+    }
+    else{
+        return 1;
+    }
 }
 
-void Greifer::leave()
+int Greifer::leave()
 {
     this->greifer->position(85.0f);
+    static int time = 0;
+    if( time < 10 ){
+        time++;
+        return 0;
+    }
+    else{
+        return 1;
+    }
 }
\ No newline at end of file