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

Diff: Sources/Greifer.cpp

Revision:
12:c0bcb95885dd
Parent:
11:292bdbd85a9c
--- a/Sources/Greifer.cpp	Sat May 06 13:33:23 2017 +0000
+++ b/Sources/Greifer.cpp	Wed May 10 13:30:13 2017 +0000
@@ -19,8 +19,8 @@
 void Greifer::init(Servo* greifer)
 {
     this->greifer = greifer;
-    greifer->calibrate(0.0015f, 180.0f);
-    greifer->position(85.0f);
+    greifer->calibrate(0.0017f, 180.0f);
+    greifer->position(60.0f);
 }
 
 int Greifer::take()
@@ -32,19 +32,21 @@
         return 0;
     }
     else{
+        time = 0;
         return 1;
     }
 }
 
 int Greifer::leave()
 {
-    this->greifer->position(85.0f);
+    this->greifer->position(60.0f);
     static int time = 0;
     if( time < 10 ){
         time++;
         return 0;
     }
     else{
+        time = 0;
         return 1;
     }
 }
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