Sooner Competitive Robotics / Mbed 2 deprecated IEEE_14_Freescale

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

Dependencies:   mbed

Fork of IEEE_14_Freescale by IEEE 2014 Mbed

Diff: robot.cpp

Revision:
49:7d172c133dbf
Parent:
48:519deb1d4dff
Child:
50:ec6cc79132e8
--- a/robot.cpp	Thu Apr 03 06:17:32 2014 +0000
+++ b/robot.cpp	Thu Apr 03 13:17:04 2014 +0000
@@ -27,6 +27,7 @@
     grabPosition();
     retractStick();
     farCamera();
+    servoPos = 45;
 }
 
 //driveforward, but set up so that 
@@ -446,6 +447,7 @@
     }
 }
 int robot::pollForShapes(){
+    circleX=circleY=rectX=rectY=rectRot=triX=triY=triRot=0;
     switchCameraMode(1);
     BTLink.clearData();
     int found=0;
@@ -563,8 +565,8 @@
 }
 
 int robot::grabPosition(){
-    wristServo.toPosition(-45);
-    thumbServo.toPosition(60);
+    wristServo.toPosition(-50);
+    thumbServo.toPosition(65);
     return 1;
 }
 int robot::grab(){
@@ -576,11 +578,11 @@
     //s.toPosition(0);
     //wait(.5); 
     while(cont.avgTicks()>-900){
-        wristServo.toPosition((-45)+((35+45)*(-cont.avgTicks()))/900);
+        wristServo.toPosition((-50)+((35+45)*(-cont.avgTicks()))/900);
         wait_ms(20);
     }
     cont.rampSpeed(0,0);
-    wristServo.toPosition(130);
+    wristServo.toPosition(103);
     while(!cont.stopped());
     cont.stop();
     return 1;
@@ -594,11 +596,11 @@
     return 1;
 }
 int robot::nearCamera(){
-    cameraServo.toPosition(45);
+    cameraServo.toPosition(55);
     return 1;
 }
 int robot::downCamera(){
-    cameraServo.toPosition(-15);
+    cameraServo.toPosition(-80);
     return 1;
 }
 int robot::extendStick(){
@@ -608,4 +610,14 @@
 int robot::retractStick(){
     stickServo.toPosition(250);
     return 1;
+}
+int robot::incServo(){
+    wristServo.toPosition(servoPos+=1);
+    DBGPRINT("inc to %d\r\n",servoPos);
+    return servoPos;
+}
+int robot::decServo(){
+    wristServo.toPosition(servoPos-=1);
+    DBGPRINT("inc to %d\r\n",servoPos);
+    return servoPos;
 }
\ No newline at end of file