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  1. int moveUntilHold()
  2. {
  3. int endStopState = getEndStoperState();
  4. if (endStopState == 0)
  5. {
  6. n = n - 30;
  7. printf("n=%d\n", n);
  8. setGripperPosition(n);
  9. }
  10. if(endStopState == 1)
  11. {
  12. n = n + 15;
  13. setGripperPosition(n);
  14. endStopState = getEndStoperState();
  15. if(endStopState == 0)
  16. {
  17. n = n - 14;
  18. setGripperPosition(n);
  19. }
  20. if(endStopState == 1)
  21. {
  22. n = n + 14;
  23. setGripperPosition(n);
  24. }
  25. }
  26. endStopState = getEndStoperState();
  27. if(endStopState == 1)
  28. {
  29. n = n + 15;
  30. setGripperPosition(n);
  31. endStopState = getEndStoperState();
  32. if(endStopState == 0)
  33. {
  34. n = n - 14;
  35. setGripperPosition(n);
  36. }
  37. if(endStopState == 1)
  38. {
  39. n = n + 14;
  40. setGripperPosition(n);
  41. }
  42. }
  43. endStopState = getEndStoperState();
  44. if(endStopState == 1)
  45. {
  46. n = n + 15;
  47. setGripperPosition(n);
  48. endStopState = getEndStoperState();
  49. if(endStopState == 0)
  50. {
  51. n = n - 14;
  52. setGripperPosition(n);
  53. }
  54. if(endStopState == 1)
  55. {
  56. n = n + 14;
  57. setGripperPosition(n);
  58. }
  59. }
  60. endStopState = getEndStoperState();
  61. if(endStopState == 1)
  62. {
  63. n = n + 15;
  64. setGripperPosition(n);
  65. endStopState = getEndStoperState();
  66. if(endStopState == 0)
  67. {
  68. n = n - 14;
  69. setGripperPosition(n);
  70. }
  71. if(endStopState == 1)
  72. {
  73. n = n + 14;
  74. setGripperPosition(n);
  75. }
  76. }
  77. endStopState = getEndStoperState();
  78. if(endStopState == 1)
  79. {
  80. n = n + 15;
  81. setGripperPosition(n);
  82. endStopState = getEndStoperState();
  83. if(endStopState == 0)
  84. {
  85. n = n - 14;
  86. setGripperPosition(n);
  87. }
  88. if(endStopState == 1)
  89. {
  90. n = n + 14;
  91. setGripperPosition(n);
  92. }
  93. }
  94. endStopState = getEndStoperState();
  95. if(endStopState == 1)
  96. {
  97. n = n + 15;
  98. setGripperPosition(n);
  99. endStopState = getEndStoperState();
  100. if(endStopState == 0)
  101. {
  102. n = n - 14;
  103. setGripperPosition(n);
  104. }
  105. if(endStopState == 1)
  106. {
  107. n = n + 14;
  108. setGripperPosition(n);
  109. }
  110. }
  111. endStopState = getEndStoperState();
  112. if(endStopState == 1)
  113. {
  114. n = n + 15;
  115. setGripperPosition(n);
  116. endStopState = getEndStoperState();
  117. if(endStopState == 0)
  118. {
  119. n = n - 14;
  120. setGripperPosition(n);
  121. }
  122. if(endStopState == 1)
  123. {
  124. n = n + 14;
  125. setGripperPosition(n);
  126. }
  127. }
  128. endStopState = getEndStoperState();
  129. if(endStopState == 1)
  130. {
  131. n = n + 15;
  132. setGripperPosition(n);
  133. endStopState = getEndStoperState();
  134. if(endStopState == 0)
  135. {
  136. n = n - 14;
  137. setGripperPosition(n);
  138. }
  139. if(endStopState == 1)
  140. {
  141. n = n + 14;
  142. setGripperPosition(n);
  143. }
  144. }
  145. }
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