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

Committer:
EpicG10
Date:
2017-05-26
Revision:
5:acb938f45b9c
Parent:
3:63da1d1fae15

File content as of revision 5:acb938f45b9c:

#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(){
    static int time = 0;
    this->greifer->position(-60.0f);
    if( time < 300 ){
        time++;
        return 0;
    }
    else{
        time = 0;
        return 1;
    }
}

int Greifer::leave(){
    static int time = 0;
    this->greifer->position(65.0f);
    if( time < 350 ){
        time++;
        return 0;
    }
    else{
        time = 0;
        return 1;
    }
}