zhaw_st16b_pes2_10 / Mbed 2 deprecated PES_Official

Do NOT modify!

Dependencies:   mbed Servo ServoArm

Fork of PES_Yanick by zhaw_st16b_pes2_10

Sources/Arm.cpp@11:292bdbd85a9c, 2017-05-06 (annotated)

Committer:
beacon
Date:
Sat May 06 13:33:23 2017 +0000
Revision:
11:292bdbd85a9c
Parent:
10:f76476943a6c
Child:
12:c0bcb95885dd
Nenne dieses Programm "PES_Official" und l?sche das alte.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
beacon 6:ba26dd3251b3 1 #include "Robot.h"
beacon 6:ba26dd3251b3 2 #include "Declarations.h"
beacon 6:ba26dd3251b3 3
beacon 4:67d7177c213f 4
beacon 6:ba26dd3251b3 5 Arm::Arm(){
beacon 6:ba26dd3251b3 6 }
beacon 6:ba26dd3251b3 7
beacon 10:f76476943a6c 8 Arm::Arm(ServoArm* arm){
beacon 10:f76476943a6c 9 init(arm);
beacon 4:67d7177c213f 10 }
beacon 4:67d7177c213f 11
beacon 10:f76476943a6c 12 void Arm::init(ServoArm* arm){
beacon 10:f76476943a6c 13 this->arm = arm;
beacon 4:67d7177c213f 14
beacon 10:f76476943a6c 15 this->arm->calibrate(0.0015f, 180.0f);
beacon 10:f76476943a6c 16 this->arm->position(COLLECT_POS);
beacon 4:67d7177c213f 17 }
beacon 4:67d7177c213f 18
beacon 11:292bdbd85a9c 19 int Arm::collectToDown(){
beacon 6:ba26dd3251b3 20 static float pos=COLLECT_POS;
beacon 6:ba26dd3251b3 21 if(pos>TAKE_POS) {
beacon 11:292bdbd85a9c 22 pos-=3;
beacon 10:f76476943a6c 23 this->arm->position(pos);
beacon 11:292bdbd85a9c 24 return 0;
beacon 6:ba26dd3251b3 25 }
beacon 6:ba26dd3251b3 26 else{
beacon 11:292bdbd85a9c 27 return 1;
beacon 6:ba26dd3251b3 28 }
beacon 4:67d7177c213f 29 }
beacon 4:67d7177c213f 30
beacon 11:292bdbd85a9c 31 int Arm::downToCollect(){
beacon 6:ba26dd3251b3 32 static float pos=TAKE_POS;
beacon 6:ba26dd3251b3 33 if(pos<COLLECT_POS) {
beacon 11:292bdbd85a9c 34 pos+=3;
beacon 10:f76476943a6c 35 this->arm->position(pos);
beacon 11:292bdbd85a9c 36 return 0;
beacon 11:292bdbd85a9c 37 }
beacon 6:ba26dd3251b3 38 else{
beacon 11:292bdbd85a9c 39 return 1;
beacon 6:ba26dd3251b3 40 }
beacon 4:67d7177c213f 41 }
beacon 4:67d7177c213f 42
beacon 11:292bdbd85a9c 43 int Arm::collectToBack(){
beacon 6:ba26dd3251b3 44 static float pos=COLLECT_POS;
beacon 6:ba26dd3251b3 45 if(pos<RELEASE_POS) {
beacon 11:292bdbd85a9c 46 pos+=3;
beacon 10:f76476943a6c 47 this->arm->position(pos);
beacon 11:292bdbd85a9c 48 return 0;
beacon 6:ba26dd3251b3 49 }
beacon 6:ba26dd3251b3 50 else{
beacon 11:292bdbd85a9c 51 return 1;
beacon 6:ba26dd3251b3 52 }
beacon 4:67d7177c213f 53 }
beacon 4:67d7177c213f 54
beacon 11:292bdbd85a9c 55 int Arm::backToCollect(){
beacon 6:ba26dd3251b3 56 static float pos=RELEASE_POS;
beacon 6:ba26dd3251b3 57 if(pos>COLLECT_POS) {
beacon 11:292bdbd85a9c 58 pos-=3;
beacon 10:f76476943a6c 59 this->arm->position(pos);
beacon 11:292bdbd85a9c 60 return 0;
beacon 6:ba26dd3251b3 61 }
beacon 6:ba26dd3251b3 62 else{
beacon 11:292bdbd85a9c 63 return 1;
beacon 6:ba26dd3251b3 64 }
beacon 6:ba26dd3251b3 65 }