Revision 14:bdf4055ed31d, committed 2017-04-25

Comitter:

EpicG10

Date:

Tue Apr 25 15:27:21 2017 +0000

Parent:

13:f3fea9f5c990

Commit message:

a

Changed in this revision

diff -r f3fea9f5c990 -r bdf4055ed31d Headers/Declarations.h
--- a/Headers/Declarations.h	Sun Apr 16 19:04:29 2017 +0000
+++ b/Headers/Declarations.h	Tue Apr 25 15:27:21 2017 +0000
@@ -26,7 +26,7 @@
 #define RED -1              //
 
 //Greifer:
-#define PC_7 SERVO0
+//#define PC_7 SERVO0
 
 //Arm
 #define COLLECT_POS 65.0f

diff -r f3fea9f5c990 -r bdf4055ed31d Headers/Robot.h
--- a/Headers/Robot.h	Sun Apr 16 19:04:29 2017 +0000
+++ b/Headers/Robot.h	Tue Apr 25 15:27:21 2017 +0000
@@ -57,10 +57,10 @@
         Arm();
         void init();
         
-        void down();
-        void collect();
-        void back();
-        void setAngle(float angle);
+        void collecttodown();
+        void downtocollect();
+        void collecttoback();
+        void backtocollect();
         
     private:
         float angle;

diff -r f3fea9f5c990 -r bdf4055ed31d Sources/Arm.cpp
--- a/Sources/Arm.cpp	Sun Apr 16 19:04:29 2017 +0000
+++ b/Sources/Arm.cpp	Tue Apr 25 15:27:21 2017 +0000
@@ -13,37 +13,34 @@
     ServoArm.position(COLLECT_POS);
 }
 
-void Arm::down(){
-    for(int i=0; i<(COLLECT_POS-TAKE_POS); i+=1) {
-            ServoArm.position(COLLECT_POS-(float)i);
-            wait(0.02f);
+void Arm::collecttodown(){
+    static float pos=COLLECT_POS;
+    if(pos>TAKE_POS) {
+        pos-=0.5f;
+        ServoArm.position(pos);
         }
 }
 
-void Arm::collect(){
-    for(int i=0; i<(COLLECT_POS-TAKE_POS); i+=1) {
-            ServoArm.position(TAKE_POS+(float)i);
-            wait(0.02f);
+void Arm::downtocollect(){
+    static float pos=TAKE_POS;
+    if(pos<COLLECT_POS) {
+        pos+=0.5f;
+        ServoArm.position(pos);
         }
 }
 
-void Arm::back(){
-     for(int i=0; i<(RELEASE_POS-COLLECT_POS); i+=1) {
-            ServoArm.position(COLLECT_POS+(float)i);
-            wait(0.02f);
+void Arm::collecttoback(){
+     static float pos=COLLECT_POS;
+    if(pos<RELEASE_POS) {
+        pos+=0.5f;
+        ServoArm.position(pos);
         }
 }
 
-void Arm::setAngle(float angle){
-    this->angle=angle;
-    if (angle>90.0f) angle=90.0f;
-    if (angle<-90.0f) angle=-90.0f;
-    float pos=ServoArm.read();
-    
-    for(int i=0; i<int(abs(pos-angle));i++){
-        
-    if(pos>angle) ServoArm.position(pos-i);
-    else ServoArm.position(pos+i);
-    wait(0.02f);
+void Arm::backtocollect(){
+    static float pos=RELEASE_POS;
+    if(pos>COLLECT_POS) {
+        pos-=0.5f;
+        ServoArm.position(pos);
         }
 }