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pen engaged smaller angle

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This commit is contained in:
Stepan Usatiuk
2019-08-05 22:05:57 +03:00
parent 48924622ab
commit effbfbad2a
1 changed files with 4 additions and 1 deletions
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5
Firmware/MotorControl/src/Pen.cpp
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@@ -9,6 +9,7 @@ Pen::Pen(int pin, int posEngaged, int posDisengaged)
void Pen::engage() { void Pen::engage() {
if (!engaged) { if (!engaged) {
servo.write(posEngaged); servo.write(posEngaged);
delay(5);
} }
engaged = true; engaged = true;
} }
@@ -16,6 +17,7 @@ void Pen::engage() {
void Pen::disengage() { void Pen::disengage() {
if (engaged) { if (engaged) {
servo.write(posDisengaged); servo.write(posDisengaged);
delay(5);
} }
engaged = false; engaged = false;
} }
@@ -23,9 +25,10 @@ void Pen::disengage() {
void Pen::init() { void Pen::init() {
servo.attach(pin); servo.attach(pin);
servo.write(posDisengaged); servo.write(posDisengaged);
delay(5);
engaged = false; engaged = false;
} }
bool Pen::getEngaged() { return engaged; } bool Pen::getEngaged() { return engaged; }
Pen pen(7, 120, 170); Pen pen(7, 100, 175);