Tobias Berger / Mbed 2 deprecated Robocode

Tobis Programm forked to not destroy your golden files

Dependencies:   mbed

Fork of Robocode by PES 2 - Gruppe 1

Diff: source/Robot.cpp

Revision:
73:f7657ddb7827
Parent:
72:4e8a151d804e
Child:
75:dba260cb5ae4
--- a/source/Robot.cpp	Fri Apr 21 12:12:57 2017 +0000
+++ b/source/Robot.cpp	Fri Apr 21 12:37:07 2017 +0000
@@ -22,6 +22,9 @@
 #define RESTART         0x80
 #define SLEEP           0x10
 
+#define servo0center    300
+#define servo2center    300
+
 
 const float PERIOD = 0.001f;                    // period of control task, given in [s]
 const float COUNTS_PER_TURN = 1200.0f;          // resolution of encoder counter
@@ -289,9 +292,17 @@
     // Servo 4 = Arm_1
     // Servo 6 = Arm_2
     // Servo 8 = Grabber
+    if (servo == 0) {
+        deg = servo0center + 3*deg;
+    }
+    if (servo == 2) {
+        deg = servo2center + 3*deg;
+    }
+    
+    //only for tests with putty
     if (deg < 0 || deg > 4095) {
         deg = 300;
-    }
+        
     char data[2];
     int16_t wert1 = (deg>>8);
     int16_t wert2 = (deg & 0xFF);