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Arm.cpp
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Arm.cpp
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#include "Arduino.h"
#include "Arm.h"
void Arm::init() {
bdeg = 90;
pdeg = 90;
base.attach(6);
base.write(90);
pitch.attach(7);
pitch.write(90);
clamp.attach(8);
clamp.write(90);
}
void Arm::to(int nbdeg, int npdeg) {
bdeg = nbdeg;
base.write(nbdeg);
if (npdeg != -1) {
pdeg = npdeg;
pitch.write(npdeg);
}
}
void Arm::left() {
bdeg += 5;
if (bdeg > 180) {
bdeg = 180;
}
base.write(bdeg);
}
void Arm::right() {
bdeg -= 5;
if (bdeg < 0) {
bdeg = 0;
}
base.write(bdeg);
}
void Arm::up() {
pdeg += 5;
if (pdeg > 180) {
pdeg = 180;
}
pitch.write(pdeg);
}
void Arm::down() {
pdeg -= 5;
if (pdeg < 0) {
pdeg = 0;
}
pitch.write(pdeg);
}
void Arm::open() {
clamp.write(60);
}
void Arm::close() {
clamp.write(96);
}
void Arm::stop() {
//base
//pitch
// clamp.write(96);
}