//------------------------------------------------------------------------------
// METHOD: ArmLower::GoToPotTarget()
// Type: Private method
//------------------------------------------------------------------------------
// Moves the arm Arm until it reaches the target position, or activates
// the upper or lower limit switches.
// *** NOTE TO ALLOW THE LIMIT SWITCHES TO READ THE WAY WE WANT THEM TO IN THE
// ** CODE - WIRE THEM "NORMAL CLOSED" OR NC.
//------------------------------------------------------------------------------
bool ArmLower::GoToPOTTarget(double inputPotValue)
{
bool potTargetFound = false;
double targetLowValue = inputPotValue - TARGET_TOLERANCE;
double targetHighValue = inputPotValue + TARGET_TOLERANCE;
if ( pArmPot->Get() >= targetLowValue &&
pArmPot->Get() <= targetHighValue )
{
StopArm();
potTargetFound = true;
}
else
{
if ( pArmPot->Get() > targetHighValue ) // Arm moving down
{
MoveArmUp();
}
else
{
if ( pArmPot->Get() < targetLowValue ) // Arm moving up
{
MoveArmDown();
}
}
}
return potTargetFound;
}
//////////////////////////////////////SETS 4-BAR POSITION////////////////////////////////////////////////////////////////
void fourbarlift()
{
fourbarpower = joystick.joy2_y2;
if(abs(fourbarpower) > 8) //deadband with threshold of 8
{
if (fourbarpower > 0) {
fourbarposition = MoveArmUp(fourbarposition, 100);
}
//if we're going down
if (fourbarpower < 0) {
fourbarposition = MoveArmDown(fourbarposition, 100);
}
}
//if(debug) {nxtDisplayString(2, "encoder: %i", nMotorEncoder[FourBar]);}
}
