Diff: Sources/Leiste.cpp

Revision:

0:15a8480061e8

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Sources/Leiste.cpp	Mon May 22 11:24:46 2017 +0000
@@ -0,0 +1,42 @@
+#include "Robot.h"
+#include "Declarations.h"
+
+
+Leiste::Leiste(){
+}
+
+Leiste::Leiste(Servo* leiste){
+    init(leiste);
+}
+
+void Leiste::init(Servo* leiste){
+    this->leiste = leiste;
+    this->leiste->calibrate(0.0025f, 180.0f);
+    this->leiste->position(UP_POS);
+}
+
+int Leiste::upToDown(){
+    static float pos=UP_POS;
+    if(pos>DOWN_POS) {
+        pos-=3;
+        this->leiste->position(pos);
+        return 0;
+    }
+    else{
+        pos = UP_POS;
+        return 1;
+    }
+}
+
+int Leiste::downToUp(){
+    static float pos=DOWN_POS;
+    if(pos<UP_POS) {
+        pos+=3;
+        this->leiste->position(pos);
+        return 0;
+    }
+    else{
+        pos = DOWN_POS;
+        return 1;
+    }
+}
\ No newline at end of file