Diff: Sources/Arm.cpp

Revision:

10:f76476943a6c

Parent:

7:6fed0dcae9c1

Child:

11:292bdbd85a9c

--- a/Sources/Arm.cpp	Tue May 02 08:00:19 2017 +0000
+++ b/Sources/Arm.cpp	Wed May 03 13:54:51 2017 +0000
@@ -5,22 +5,22 @@
 Arm::Arm(){
 }
 
-Arm::Arm(Servo* servoArm){
-    init(servoArm);
+Arm::Arm(ServoArm* arm){
+    init(arm);
 }
 
-void Arm::init(Servo* servoArm){
-    this->servoArm = servoArm;
+void Arm::init(ServoArm* arm){
+    this->arm = arm;
     
-    this->servoArm->calibrate(0.008f, 90.0f);
-    this->servoArm->position(COLLECT_POS);
+    this->arm->calibrate(0.0015f, 180.0f);
+    this->arm->position(COLLECT_POS);
 }
 
 void Arm::collecttodown(int* done){
     static float pos=COLLECT_POS;
     if(pos>TAKE_POS) {
         pos-=1;
-        this->servoArm->position(pos);
+        this->arm->position(pos);
     }
     else{
         *done = 1;
@@ -31,7 +31,7 @@
     static float pos=TAKE_POS;
     if(pos<COLLECT_POS) {
         pos+=1;
-        this->servoArm->position(pos);
+        this->arm->position(pos);
         }
     else{
         *done = 1;
@@ -42,7 +42,7 @@
     static float pos=COLLECT_POS;
     if(pos<RELEASE_POS) {
         pos+=1;
-        this->servoArm->position(pos);
+        this->arm->position(pos);
         }
     else{
         *done = 1;
@@ -53,7 +53,7 @@
     static float pos=RELEASE_POS;
     if(pos>COLLECT_POS) {
         pos-=1;
-        this->servoArm->position(pos);
+        this->arm->position(pos);
         }
     else{
         *done = 1;