/// <summary>
/// Swivels the cannon left
/// </summary>
public void AimCannonLeft()
{
if (aimServo.GetServoPosition() == (int)Servo.CONSTANTS.MIN_POSITION)
{
aimServo.MoveServo(aimServo.GetServoPosition() - move_motor_by_amount);
}
}
/// <summary>
/// Drops the claw and attempts to grab the item as well as resets the claw
/// </summary>
/// <remarks> Add a way to handle errors/if something happens </remarks>
public bool DropAndGrabClaw()
{
clawServo.MoveServo((int)Servo.CONSTANTS.MAX_POSITION); // opens the claw
winchMotor.SetPosition(100000); // lowers the claw TODO: check if this is the correct position
clawServo.MoveServo((int)Servo.CONSTANTS.MIN_POSITION); // closes the claw
winchMotor.SetPosition((int)TicMotor.CONSTANTS.MIN_POSITION); // winches up the claw TODO: check if this is the correct position
xMotor.SetPosition((int)TicMotor.CONSTANTS.MIN_POSITION); // resets the claws x axis
yMotor.SetPosition((int)TicMotor.CONSTANTS.MIN_POSITION); // resets the claws y axis
// TODO: make sure it's able to find 0 for all of the motors
while (xMotor.GetPosition() != (int)TicMotor.CONSTANTS.MIN_POSITION && //
yMotor.GetPosition() != (int)TicMotor.CONSTANTS.MIN_POSITION && //
winchMotor.GetPosition() != (int)TicMotor.CONSTANTS.MIN_POSITION)
{
; // wait until the claw is back at the start point
}
return(true);
}
