/// <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); }