c
Dependencies: Servo ServoArm mbed
Fork of PES_PIXY_Official by
Sources/Greifer.cpp@0:15a8480061e8, 2017-05-22 (annotated)
- Committer:
- beacon
- Date:
- Mon May 22 11:24:46 2017 +0000
- Revision:
- 0:15a8480061e8
- Child:
- 1:fd3cef0f116d
o
Who changed what in which revision?
User | Revision | Line number | New 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 | |
beacon | 0:15a8480061e8 | 5 | |
beacon | 0:15a8480061e8 | 6 | |
beacon | 0:15a8480061e8 | 7 | |
beacon | 0:15a8480061e8 | 8 | |
beacon | 0:15a8480061e8 | 9 | Greifer::Greifer(Servo* greifer) |
beacon | 0:15a8480061e8 | 10 | { |
beacon | 0:15a8480061e8 | 11 | init(greifer); |
beacon | 0:15a8480061e8 | 12 | } |
beacon | 0:15a8480061e8 | 13 | |
beacon | 0:15a8480061e8 | 14 | Greifer::Greifer() |
beacon | 0:15a8480061e8 | 15 | { |
beacon | 0:15a8480061e8 | 16 | |
beacon | 0:15a8480061e8 | 17 | } |
beacon | 0:15a8480061e8 | 18 | |
beacon | 0:15a8480061e8 | 19 | void Greifer::init(Servo* greifer) |
beacon | 0:15a8480061e8 | 20 | { |
beacon | 0:15a8480061e8 | 21 | this->greifer = greifer; |
beacon | 0:15a8480061e8 | 22 | greifer->calibrate(0.001f, 90.0f); |
beacon | 0:15a8480061e8 | 23 | greifer->position(65.0f); |
beacon | 0:15a8480061e8 | 24 | } |
beacon | 0:15a8480061e8 | 25 | |
beacon | 0:15a8480061e8 | 26 | int Greifer::take() |
beacon | 0:15a8480061e8 | 27 | |
beacon | 0:15a8480061e8 | 28 | { |
beacon | 0:15a8480061e8 | 29 | this->greifer->position(-70.0f); |
beacon | 0:15a8480061e8 | 30 | static int time = 0; |
beacon | 0:15a8480061e8 | 31 | if( time < 1000 ){ |
beacon | 0:15a8480061e8 | 32 | time++; |
beacon | 0:15a8480061e8 | 33 | return 0; |
beacon | 0:15a8480061e8 | 34 | } |
beacon | 0:15a8480061e8 | 35 | else{ |
beacon | 0:15a8480061e8 | 36 | time = 0; |
beacon | 0:15a8480061e8 | 37 | return 1; |
beacon | 0:15a8480061e8 | 38 | } |
beacon | 0:15a8480061e8 | 39 | } |
beacon | 0:15a8480061e8 | 40 | |
beacon | 0:15a8480061e8 | 41 | int Greifer::leave() |
beacon | 0:15a8480061e8 | 42 | { |
beacon | 0:15a8480061e8 | 43 | this->greifer->position(65.0f); |
beacon | 0:15a8480061e8 | 44 | static int time = 0; |
beacon | 0:15a8480061e8 | 45 | if( time < 1000 ){ |
beacon | 0:15a8480061e8 | 46 | time++; |
beacon | 0:15a8480061e8 | 47 | return 0; |
beacon | 0:15a8480061e8 | 48 | } |
beacon | 0:15a8480061e8 | 49 | else{ |
beacon | 0:15a8480061e8 | 50 | time = 0; |
beacon | 0:15a8480061e8 | 51 | return 1; |
beacon | 0:15a8480061e8 | 52 | } |
beacon | 0:15a8480061e8 | 53 | } |
beacon | 0:15a8480061e8 | 54 | |
beacon | 0:15a8480061e8 | 55 | void Greifer::nullPos() |
beacon | 0:15a8480061e8 | 56 | { |
beacon | 0:15a8480061e8 | 57 | this->greifer->position(0.0f); |
beacon | 0:15a8480061e8 | 58 | } |