/// <summary>
/// closes and rises the grappler if its on the ground
/// </summary>
private static void RiseGrappler()
{
// no need to check more, because the pressure sensor
// stops either way
if (GrapplerPosition == GrapplerPosition.Down)
{
GrapplerRiserMotor.ResetTacho();
GrapplerRiserMotor.SetSpeed(Constants.GRAPPLER_RISER_SPEED);
while (Math.Abs(GrapplerRiserMotor.GetTachoCount())
< Constants.GRAPPLER_RISER_TACHO_BOUNDARY)
{
}
GrapplerRiserMotor.Brake();
GrapplerPosition = GrapplerPosition.Up;
}
}
public static void PushObjectInFrontToLeft()
{
Rotate(
RotationMode.TimerMode,
Constants.ROTATION_SPEED_FORWARD,
Constants.ROTATION_SPEED_BACKWARD);
GrapplerRiserMotor.Off();
GrapplerPosition = GrapplerPosition.Down;
Thread.Sleep(1000);
Rotate(
RotationMode.TimerMode,
Constants.ROTATION_SPEED_BACKWARD,
Constants.ROTATION_SPEED_FORWARD);
RiseGrappler();
}
/// <summary>
/// halts the two motors that are responsible for rising/lowering
/// and turning the grappler
/// </summary>
public static void TurnOffGrappler()
{
GrapplerRiserMotor.Off();
GrapplerWheelMotor.Off();
GrapplerPosition = GrapplerPosition.Down;
}
