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@9:ac362674c480, 2017-05-02 (annotated)

Committer:
beacon
Date:
Tue May 02 08:39:35 2017 +0000
Revision:
9:ac362674c480
kl

Who changed what in which revision?

UserRevisionLine numberNew contents of line
beacon 9:ac362674c480 1 #include "Robot.h"
beacon 9:ac362674c480 2 #include "Declarations.h"
beacon 9:ac362674c480 3
beacon 9:ac362674c480 4
beacon 9:ac362674c480 5 Arm::Arm(){
beacon 9:ac362674c480 6 }
beacon 9:ac362674c480 7
beacon 9:ac362674c480 8 Arm::Arm(Servo* servoArm){
beacon 9:ac362674c480 9 init(servoArm);
beacon 9:ac362674c480 10 }
beacon 9:ac362674c480 11
beacon 9:ac362674c480 12 void Arm::init(Servo* servoArm){
beacon 9:ac362674c480 13 this->servoArm = servoArm;
beacon 9:ac362674c480 14
beacon 9:ac362674c480 15 this->servoArm->calibrate(0.008f, 90.0f);
beacon 9:ac362674c480 16 this->servoArm->position(COLLECT_POS);
beacon 9:ac362674c480 17 }
beacon 9:ac362674c480 18
beacon 9:ac362674c480 19 void Arm::collecttodown(int* done){
beacon 9:ac362674c480 20 static float pos=COLLECT_POS;
beacon 9:ac362674c480 21 if(pos>TAKE_POS) {
beacon 9:ac362674c480 22 pos-=1;
beacon 9:ac362674c480 23 this->servoArm->position(pos);
beacon 9:ac362674c480 24 }
beacon 9:ac362674c480 25 else{
beacon 9:ac362674c480 26 *done = 1;
beacon 9:ac362674c480 27 }
beacon 9:ac362674c480 28 }
beacon 9:ac362674c480 29
beacon 9:ac362674c480 30 void Arm::downtocollect(int* done){
beacon 9:ac362674c480 31 static float pos=TAKE_POS;
beacon 9:ac362674c480 32 if(pos<COLLECT_POS) {
beacon 9:ac362674c480 33 pos+=1;
beacon 9:ac362674c480 34 this->servoArm->position(pos);
beacon 9:ac362674c480 35 }
beacon 9:ac362674c480 36 else{
beacon 9:ac362674c480 37 *done = 1;
beacon 9:ac362674c480 38 }
beacon 9:ac362674c480 39 }
beacon 9:ac362674c480 40
beacon 9:ac362674c480 41 void Arm::collecttoback(int* done){
beacon 9:ac362674c480 42 static float pos=COLLECT_POS;
beacon 9:ac362674c480 43 if(pos<RELEASE_POS) {
beacon 9:ac362674c480 44 pos+=1;
beacon 9:ac362674c480 45 this->servoArm->position(pos);
beacon 9:ac362674c480 46 }
beacon 9:ac362674c480 47 else{
beacon 9:ac362674c480 48 *done = 1;
beacon 9:ac362674c480 49 }
beacon 9:ac362674c480 50 }
beacon 9:ac362674c480 51
beacon 9:ac362674c480 52 void Arm::backtocollect(int* done){
beacon 9:ac362674c480 53 static float pos=RELEASE_POS;
beacon 9:ac362674c480 54 if(pos>COLLECT_POS) {
beacon 9:ac362674c480 55 pos-=1;
beacon 9:ac362674c480 56 this->servoArm->position(pos);
beacon 9:ac362674c480 57 }
beacon 9:ac362674c480 58 else{
beacon 9:ac362674c480 59 *done = 1;
beacon 9:ac362674c480 60 }
beacon 9:ac362674c480 61 }