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

Diff: Sources/Arm.cpp

Revision:
5:acb938f45b9c
Parent:
3:63da1d1fae15
--- a/Sources/Arm.cpp	Fri May 26 08:24:59 2017 +0000
+++ b/Sources/Arm.cpp	Fri May 26 13:43:19 2017 +0000
@@ -12,14 +12,14 @@
 void Arm::init(ServoArm* arm){
     this->arm = arm;
     this->arm->calibrate(0.0015f, 180.0f);
-    this->arm->position(RELEASE_POS);
+    this->arm->position(RELEASE_POS+10.0f);
 }
 
 
 int Arm::collectToBack(){
     static float i=0;
-    if(i<5){
-        this->arm->position(85.0);
+    if(i<10){
+        this->arm->position(RELEASE_POS+10.0f);
         i++;
         return 0;
     }
@@ -47,7 +47,7 @@
     static float pos = TAKE_POS;
     static int i=0;
     if( pos < RELEASE_POS ){
-        pos += 2.0;
+        pos += 2.0f;
         this->arm->position(pos);
         i++;
         return 0;