zhaw_st16b_pes2_10 / Mbed 2 deprecated PES_PIXY_Official

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Dependencies:   Servo ServoArm mbed

Sources/Leiste.cpp

Committer:
beacon
Date:
2017-05-22
Revision:
0:15a8480061e8

File content as of revision 0:15a8480061e8:

#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;
    }
}