Diff: servo.cpp

Revision:

3:c112df463a8d

Parent:

1:c8ecfd809e22

Child:

4:5ae6ed80dc46

--- a/servo.cpp	Wed Sep 07 09:40:58 2016 +0000
+++ b/servo.cpp	Thu Sep 08 10:07:15 2016 +0000
@@ -28,17 +28,21 @@
        
 }
 
-void beltdegree(int degree) {
-    int i;
+void beltup(void){
 
    pwmarm.period_ms(20);        //20ms
-   
-       degree=10;
-
-       i=500+degree*1900/180;
-       pwmbelt.write(i/PERIOD); 
+       pwmbelt.write(0.05); 
        
 }
+
+void beltdown(void){
+
+   pwmarm.period_ms(20);        //20ms
+       pwmbelt.write(0.1); 
+       
+}
+
+
 void close_hand(void) {
      int i,degree;
 
@@ -47,7 +51,7 @@
         degree=175;
 
         i=500+degree*1900/180;
-        pwmhand.pulsewidth_us(i); 
+        pwmhand.write(i/PERIOD); 
         
         
 }
@@ -57,7 +61,7 @@
 
    pwmarm.period_ms(20);        //20ms
    
-       degree=160;
+       degree=100;
 
        i=500+degree*1900/180;
        pwmarm.write(i/PERIOD);