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/Greifer.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 10:f76476943a6c 1 #include "Robot.h"
beacon 10:f76476943a6c 2 #include "Declarations.h"
beacon 10:f76476943a6c 3
beacon 10:f76476943a6c 4
beacon 10:f76476943a6c 5
beacon 10:f76476943a6c 6
beacon 10:f76476943a6c 7
beacon 10:f76476943a6c 8
beacon 10:f76476943a6c 9 Greifer::Greifer(Servo* greifer)
beacon 10:f76476943a6c 10 {
beacon 10:f76476943a6c 11 init(greifer);
beacon 10:f76476943a6c 12 }
beacon 10:f76476943a6c 13
beacon 10:f76476943a6c 14 Greifer::Greifer()
beacon 10:f76476943a6c 15 {
beacon 10:f76476943a6c 16
beacon 10:f76476943a6c 17 }
beacon 10:f76476943a6c 18
beacon 10:f76476943a6c 19 void Greifer::init(Servo* greifer)
beacon 10:f76476943a6c 20 {
beacon 10:f76476943a6c 21 this->greifer = greifer;
beacon 12:c0bcb95885dd 22 greifer->calibrate(0.0017f, 180.0f);
beacon 12:c0bcb95885dd 23 greifer->position(60.0f);
beacon 10:f76476943a6c 24 }
beacon 10:f76476943a6c 25
beacon 11:292bdbd85a9c 26 int Greifer::take()
beacon 10:f76476943a6c 27 {
beacon 10:f76476943a6c 28 this->greifer->position(-150.0f);
beacon 11:292bdbd85a9c 29 static int time = 0;
beacon 11:292bdbd85a9c 30 if( time < 10 ){
beacon 11:292bdbd85a9c 31 time++;
beacon 11:292bdbd85a9c 32 return 0;
beacon 11:292bdbd85a9c 33 }
beacon 11:292bdbd85a9c 34 else{
beacon 12:c0bcb95885dd 35 time = 0;
beacon 11:292bdbd85a9c 36 return 1;
beacon 11:292bdbd85a9c 37 }
beacon 10:f76476943a6c 38 }
beacon 10:f76476943a6c 39
beacon 11:292bdbd85a9c 40 int Greifer::leave()
beacon 10:f76476943a6c 41 {
beacon 12:c0bcb95885dd 42 this->greifer->position(60.0f);
beacon 11:292bdbd85a9c 43 static int time = 0;
beacon 11:292bdbd85a9c 44 if( time < 10 ){
beacon 11:292bdbd85a9c 45 time++;
beacon 11:292bdbd85a9c 46 return 0;
beacon 11:292bdbd85a9c 47 }
beacon 11:292bdbd85a9c 48 else{
beacon 12:c0bcb95885dd 49 time = 0;
beacon 11:292bdbd85a9c 50 return 1;
beacon 11:292bdbd85a9c 51 }
beacon 10:f76476943a6c 52 }