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[AVR] smooth servo

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This commit is contained in:
Stepan Usatiuk
2020-03-19 14:24:18 +03:00
parent cd598dba7f
commit b6349c2623
1 changed files with 8 additions and 6 deletions
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14
Firmware/MotorControl/src/Pen.cpp
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@@ -8,18 +8,20 @@ Pen::Pen(int pin, int posEngaged, int posDisengaged)
void Pen::engage() { void Pen::engage() {
if (!engaged) { if (!engaged) {
servo.attach(pin); for(int i = posDisengaged; i > posEngaged; i--) {
servo.write(posEngaged); servo.write(i);
delay(200); delay(5);
}
} }
engaged = true; engaged = true;
} }
void Pen::disengage() { void Pen::disengage() {
if (engaged) { if (engaged) {
servo.attach(pin); for (int i = posEngaged; i > posDisengaged; i++) {
servo.write(posDisengaged); servo.write(i);
delay(200); delay(5);
}
} }
engaged = false; engaged = false;
} }