void armUpTime(int x)
{
motorSet (motor3, -127) ; // arm up
motorSet (motor4, 127) ;
motorSet (motor7, -127) ;
motorSet (motor8, 127) ;
delay (x);
armUpTrim();
}
void armUpTime(int millis)
{
motorSet(ARM_MOTOR3, MOTOR_MAX); // arm up
motorSet(ARM_MOTOR4, MOTOR_MAX);
motorSet(ARM_MOTOR7, MOTOR_MAX);
motorSet(ARM_MOTOR8, MOTOR_MAX);
delay (millis);
armUpTrim();
}
void armUp(int x) {
int pot = analogRead(8);
while (pot < x) {
motorSet(MOTOR3, -127); // arm up
motorSet(MOTOR4, 127);
motorSet(MOTOR7, -127);
motorSet(MOTOR8, 127);
pot = analogRead(8);
}
armUpTrim();
delay(300);
}
void armUpEnc(int x)
{
int encoder = 1;
//int counts = encoderGet(encoder);
//while (abs(counts) < x)
{
motorSet (motor3, -127) ; // arm up
motorSet (motor4, 127) ;
motorSet (motor7, -127) ;
motorSet (motor8, 127) ;
// counts = encoderGet(encoder); //keep getting the value
}
armUpTrim();
delay (300);
}
void armUpEnc(int x)
{
//int encoder = 1;
//int counts = encoderGet(encoder);
//while (abs(counts) < x)
{
motorSet(ARM_MOTOR1, -MOTOR_MAX); // arm up
motorSet(ARM_MOTOR2, MOTOR_MAX);
motorSet(ARM_MOTOR3, -MOTOR_MAX);
motorSet(ARM_MOTOR4, MOTOR_MAX);
// counts = encoderGet(encoder); //keep getting the value
}
armUpTrim();
delay (300);
}
void armUpEnc(int x)
{
int towerCount = encoderGet(TOWER_ENCODER);//documentation claims 360 ticks in 1 revolution
printf("Height stop: %d > %d \n\r ",towerCount,x);
while (towerCount > x)
{
motorSet(ARM_MOTOR3, MOTOR_MAX); // arm up
motorSet(ARM_MOTOR4, MOTOR_MAX);
motorSet(ARM_MOTOR7, MOTOR_MAX);
motorSet(ARM_MOTOR8, MOTOR_MAX);
towerCount = encoderGet(TOWER_ENCODER);
}
stopArm();
armUpTrim();
delay (300);
}
