![](/media/cache/group/default_image.jpg.50x50_q85.jpg)
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Dependencies: Servo ServoArm mbed
Sources/Greifer.cpp
- Committer:
- beacon
- Date:
- 2017-05-22
- Revision:
- 0:15a8480061e8
File content as of revision 0:15a8480061e8:
#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); }