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

Committer:
EpicG10
Date:
2017-05-23
Revision:
1:fd3cef0f116d
Parent:
0:15a8480061e8

File content as of revision 1:fd3cef0f116d:

#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()

{
    this->greifer->position(-60.0f);
    static int time = 0;
    if( time < 30 ){
        time++;
        return 0;
    }
    else{
        time = 0;
        return 1;
    }
}

int Greifer::leave()
{
    this->greifer->position(65.0f);
    static int time = 0;
    if( time < 10 ){
        time++;
        return 0;
    }
    else{
        time = 0;
        return 1;
    }
}

void Greifer::nullPos()
{
    this->greifer->position(0.0f);
}