zhaw_st16b_pes2_10 / Mbed 2 deprecated PES_PIXY_Official_Richtig

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Dependencies:   Servo ServoArm mbed

Fork of PES_PIXY_Officiall by zhaw_st16b_pes2_10

Sources/Greifer.cpp@3:63da1d1fae15, 2017-05-26 (annotated)

Committer:
EpicG10
Date:
Fri May 26 08:01:48 2017 +0000
Revision:
3:63da1d1fae15
Parent:
2:c8c965d48f8d
Child:
5:acb938f45b9c
c

Who changed what in which revision?

UserRevisionLine numberNew contents of line
beacon 0:15a8480061e8 1 #include "Robot.h"
beacon 0:15a8480061e8 2 #include "Declarations.h"
beacon 0:15a8480061e8 3
beacon 0:15a8480061e8 4 Greifer::Greifer(Servo* greifer)
beacon 0:15a8480061e8 5 {
beacon 0:15a8480061e8 6 init(greifer);
beacon 0:15a8480061e8 7 }
beacon 0:15a8480061e8 8
beacon 0:15a8480061e8 9 Greifer::Greifer()
beacon 0:15a8480061e8 10 {
beacon 0:15a8480061e8 11
beacon 0:15a8480061e8 12 }
beacon 0:15a8480061e8 13
EpicG10 3:63da1d1fae15 14 void Greifer::init(Servo* greifer){
beacon 0:15a8480061e8 15 this->greifer = greifer;
beacon 0:15a8480061e8 16 greifer->calibrate(0.001f, 90.0f);
beacon 0:15a8480061e8 17 greifer->position(65.0f);
beacon 0:15a8480061e8 18 }
beacon 0:15a8480061e8 19
EpicG10 3:63da1d1fae15 20 int Greifer::take(){
EpicG10 1:fd3cef0f116d 21 this->greifer->position(-60.0f);
beacon 0:15a8480061e8 22 static int time = 0;
EpicG10 2:c8c965d48f8d 23 if( time < 300 ){
beacon 0:15a8480061e8 24 time++;
beacon 0:15a8480061e8 25 return 0;
beacon 0:15a8480061e8 26 }
beacon 0:15a8480061e8 27 else{
beacon 0:15a8480061e8 28 time = 0;
beacon 0:15a8480061e8 29 return 1;
beacon 0:15a8480061e8 30 }
beacon 0:15a8480061e8 31 }
beacon 0:15a8480061e8 32
EpicG10 3:63da1d1fae15 33 int Greifer::leave(){
beacon 0:15a8480061e8 34 this->greifer->position(65.0f);
beacon 0:15a8480061e8 35 static int time = 0;
EpicG10 2:c8c965d48f8d 36 if( time < 350 ){
beacon 0:15a8480061e8 37 time++;
beacon 0:15a8480061e8 38 return 0;
beacon 0:15a8480061e8 39 }
beacon 0:15a8480061e8 40 else{
beacon 0:15a8480061e8 41 time = 0;
beacon 0:15a8480061e8 42 return 1;
beacon 0:15a8480061e8 43 }
beacon 0:15a8480061e8 44 }