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

Committer:
beacon
Date:
2017-05-10
Revision:
12:c0bcb95885dd
Parent:
11:292bdbd85a9c

File content as of revision 12:c0bcb95885dd:

#include "Robot.h"
#include "Declarations.h"






Greifer::Greifer(Servo* greifer)
{
    init(greifer);  
}

Greifer::Greifer()
{
    
}

void Greifer::init(Servo* greifer)
{
    this->greifer = greifer;
    greifer->calibrate(0.0017f, 180.0f);
    greifer->position(60.0f);
}

int Greifer::take()
{
    this->greifer->position(-150.0f);
    static int time = 0;
    if( time < 10 ){
        time++;
        return 0;
    }
    else{
        time = 0;
        return 1;
    }
}

int Greifer::leave()
{
    this->greifer->position(60.0f);
    static int time = 0;
    if( time < 10 ){
        time++;
        return 0;
    }
    else{
        time = 0;
        return 1;
    }
}