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@12:c0bcb95885dd, 2017-05-10 (annotated)

Committer:
beacon
Date:
Wed May 10 13:30:13 2017 +0000
Revision:
12:c0bcb95885dd
Parent:
11:292bdbd85a9c 
k

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 12:c0bcb95885dd 27 pos = COLLECT_POS;
beacon 11:292bdbd85a9c 28 return 1;
beacon 6:ba26dd3251b3 29 }
beacon 4:67d7177c213f 30 }
beacon 4:67d7177c213f 31
beacon 11:292bdbd85a9c 32 int Arm::downToCollect(){
beacon 6:ba26dd3251b3 33 static float pos=TAKE_POS;
beacon 6:ba26dd3251b3 34 if(pos<COLLECT_POS) {
beacon 11:292bdbd85a9c 35 pos+=3;
beacon 10:f76476943a6c 36 this->arm->position(pos);
beacon 11:292bdbd85a9c 37 return 0;
beacon 11:292bdbd85a9c 38 }
beacon 6:ba26dd3251b3 39 else{
beacon 12:c0bcb95885dd 40 pos = TAKE_POS;
beacon 11:292bdbd85a9c 41 return 1;
beacon 6:ba26dd3251b3 42 }
beacon 4:67d7177c213f 43 }
beacon 4:67d7177c213f 44
beacon 11:292bdbd85a9c 45 int Arm::collectToBack(){
beacon 6:ba26dd3251b3 46 static float pos=COLLECT_POS;
beacon 6:ba26dd3251b3 47 if(pos<RELEASE_POS) {
beacon 11:292bdbd85a9c 48 pos+=3;
beacon 10:f76476943a6c 49 this->arm->position(pos);
beacon 11:292bdbd85a9c 50 return 0;
beacon 6:ba26dd3251b3 51 }
beacon 6:ba26dd3251b3 52 else{
beacon 12:c0bcb95885dd 53 pos = COLLECT_POS;
beacon 11:292bdbd85a9c 54 return 1;
beacon 6:ba26dd3251b3 55 }
beacon 4:67d7177c213f 56 }
beacon 4:67d7177c213f 57
beacon 11:292bdbd85a9c 58 int Arm::backToCollect(){
beacon 6:ba26dd3251b3 59 static float pos=RELEASE_POS;
beacon 6:ba26dd3251b3 60 if(pos>COLLECT_POS) {
beacon 11:292bdbd85a9c 61 pos-=3;
beacon 10:f76476943a6c 62 this->arm->position(pos);
beacon 11:292bdbd85a9c 63 return 0;
beacon 6:ba26dd3251b3 64 }
beacon 6:ba26dd3251b3 65 else{
beacon 12:c0bcb95885dd 66 pos = RELEASE_POS;
beacon 11:292bdbd85a9c 67 return 1;
beacon 6:ba26dd3251b3 68 }
beacon 6:ba26dd3251b3 69 }