Diff: Sources/Greifer.cpp

Revision:

0:15a8480061e8

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Sources/Greifer.cpp	Mon May 22 11:24:46 2017 +0000
@@ -0,0 +1,58 @@
+#include "Robot.h"
+#include "Declarations.h"
+
+
+
+
+
+
+Greifer::Greifer(Servo* greifer)
+{
+    init(greifer);  
+}
+
+Greifer::Greifer()
+{
+    
+}
+
+void Greifer::init(Servo* greifer)
+{
+    this->greifer = greifer;
+    greifer->calibrate(0.001f, 90.0f);
+    greifer->position(65.0f);
+}
+
+int Greifer::take()
+
+{
+    this->greifer->position(-70.0f);
+    static int time = 0;
+    if( time < 1000 ){
+        time++;
+        return 0;
+    }
+    else{
+        time = 0;
+        return 1;
+    }
+}
+
+int Greifer::leave()
+{
+    this->greifer->position(65.0f);
+    static int time = 0;
+    if( time < 1000 ){
+        time++;
+        return 0;
+    }
+    else{
+        time = 0;
+        return 1;
+    }
+}
+
+void Greifer::nullPos()
+{
+    this->greifer->position(0.0f);
+}
\ No newline at end of file