void removeFromPin(Pin &pin) { // get disc on the middle point goTo(pin.x, pin.y, (pin.num_discs - 0.5) * DISC_HEIGHT + BASE_HEIGHT); // close Gripper! closeGripper(); // go to the top of the pin goTo(pin.x, pin.y, (3 + ALPHA) * DISC_HEIGHT + BASE_HEIGHT); // update pin state pin.remove(); }