zhaw_st16b_pes2_10
/
progr_Pes2_st16b_10_Giona-Arm
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zhaw_st16b_pes2_10
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
--- 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
--- 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;
--- 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);
}
}