Diff: Sources/Arm.cpp

Revision:

7:6fed0dcae9c1

Parent:

6:ba26dd3251b3

Child:

10:f76476943a6c

--- a/Sources/Arm.cpp	Wed Apr 26 14:09:08 2017 +0000
+++ b/Sources/Arm.cpp	Tue May 02 08:00:19 2017 +0000
@@ -12,14 +12,14 @@
 void Arm::init(Servo* servoArm){
     this->servoArm = servoArm;
     
-    this->servoArm->calibrate(0.0015f, 180.0f);
+    this->servoArm->calibrate(0.008f, 90.0f);
     this->servoArm->position(COLLECT_POS);
 }
 
 void Arm::collecttodown(int* done){
     static float pos=COLLECT_POS;
     if(pos>TAKE_POS) {
-        pos-=0.5f;
+        pos-=1;
         this->servoArm->position(pos);
     }
     else{
@@ -30,7 +30,7 @@
 void Arm::downtocollect(int* done){
     static float pos=TAKE_POS;
     if(pos<COLLECT_POS) {
-        pos+=0.5f;
+        pos+=1;
         this->servoArm->position(pos);
         }
     else{
@@ -41,7 +41,7 @@
 void Arm::collecttoback(int* done){
     static float pos=COLLECT_POS;
     if(pos<RELEASE_POS) {
-        pos+=0.5f;
+        pos+=1;
         this->servoArm->position(pos);
         }
     else{
@@ -52,7 +52,7 @@
 void Arm::backtocollect(int* done){
     static float pos=RELEASE_POS;
     if(pos>COLLECT_POS) {
-        pos-=0.5f;
+        pos-=1;
         this->servoArm->position(pos);
         }
     else{