zhaw_st16b_pes2_10 / Mbed 2 deprecated PES_PIXY_Officiall

c

Dependencies:   Servo ServoArm mbed

Fork of PES_PIXY_Official by zhaw_st16b_pes2_10

Sources/Greifer.cpp@1:fd3cef0f116d, 2017-05-23 (annotated)

Committer:
EpicG10
Date:
Tue May 23 16:24:49 2017 +0000
Revision:
1:fd3cef0f116d
Parent:
0:15a8480061e8 
a

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
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 {
EpicG10 1:fd3cef0f116d 29 this->greifer->position(-60.0f);
beacon 0:15a8480061e8 30 static int time = 0;
EpicG10 1:fd3cef0f116d 31 if( time < 30 ){
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;
EpicG10 1:fd3cef0f116d 45 if( time < 10 ){
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 }