Do NOT modify!
Dependencies: mbed Servo ServoArm
Fork of PES_Yanick by
Sources/Arm.cpp
- Committer:
- beacon
- Date:
- 2017-05-03
- Revision:
- 10:f76476943a6c
- Parent:
- 7:6fed0dcae9c1
- Child:
- 11:292bdbd85a9c
File content as of revision 10:f76476943a6c:
#include "Robot.h" #include "Declarations.h" Arm::Arm(){ } Arm::Arm(ServoArm* arm){ init(arm); } void Arm::init(ServoArm* arm){ this->arm = arm; 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->arm->position(pos); } else{ *done = 1; } } void Arm::downtocollect(int* done){ static float pos=TAKE_POS; if(pos<COLLECT_POS) { pos+=1; this->arm->position(pos); } else{ *done = 1; } } void Arm::collecttoback(int* done){ static float pos=COLLECT_POS; if(pos<RELEASE_POS) { pos+=1; this->arm->position(pos); } else{ *done = 1; } } void Arm::backtocollect(int* done){ static float pos=RELEASE_POS; if(pos>COLLECT_POS) { pos-=1; this->arm->position(pos); } else{ *done = 1; } }