From 08760aa57fd33993b18fea15904f99ada16902ff Mon Sep 17 00:00:00 2001
From: Arnaud Cadot <arnaud.cadot@telecom-bretagne.eu>
Date: Fri, 18 Mar 2016 08:34:29 +0100
Subject: [PATCH] Forgot a file

---
 stm32/src/actionneurs/fishingNet.cpp | 60 ++++++++++++++++++++++++++++
 1 file changed, 60 insertions(+)
 create mode 100644 stm32/src/actionneurs/fishingNet.cpp

diff --git a/stm32/src/actionneurs/fishingNet.cpp b/stm32/src/actionneurs/fishingNet.cpp
new file mode 100644
index 00000000..01ae42a2
--- /dev/null
+++ b/stm32/src/actionneurs/fishingNet.cpp
@@ -0,0 +1,60 @@
+#include "fishingNet.h"
+
+#ifdef ROBOTHW
+    #include "interfaceServosNumeriques.h"
+#endif
+
+FishingNet* FishingNet::getSingleton()
+{
+    static FishingNet* instance = 0;
+    if(instance == 0)
+        instance = new FishingNet();
+
+    return instance;
+}
+
+FishingNet::FishingNet()
+{
+    close();
+}
+
+void FishingNet::moveArm(int __attribute__((__unused__)) destAngle)
+{
+#ifdef ROBOTHW
+    ServosNumeriques::moveTo(destAngle, SERVO_EXT_ID);
+#endif
+}
+
+void FishingNet::rotateArm(int __attribute__((__unused__)) destAngle)
+{
+#ifdef ROBOTHW
+    ServosNumeriques::moveTo(destAngle, SERVO_INT_ID);
+#endif
+}
+
+void FishingNet::close()
+{
+    rotateArm(SERVO_INT_RAISED_POS);
+    moveArm(SERVO_EXT_CLOSED_POS);
+}
+
+void FishingNet::deploy()
+{
+    moveArm(SERVO_EXT_DEPLOYED_POS);
+    rotateArm(SERVO_INT_RAISED_POS);
+}
+
+void FishingNet::lowerNet()
+{
+    rotateArm(SERVO_INT_LOWERED_POS);
+}
+
+void FishingNet::raiseNet()
+{
+    rotateArm(SERVO_INT_RAISED_POS);
+}
+
+void FishingNet::raiseArm()
+{
+    moveArm(SERVO_EXT_RAISED_POS);
+}
-- 
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