Diff: Actionneurs/herkulex_rob.cpp

Revision:

50:85b7a7c57d21

Parent:

49:af201920161a

Child:

54:529b24478996

--- a/Actionneurs/herkulex_rob.cpp	Thu Jul 09 18:31:15 2020 +0000
+++ b/Actionneurs/herkulex_rob.cpp	Fri Jul 17 14:33:58 2020 +0000
@@ -16,6 +16,10 @@
             setTorque(1 ,TORQUE_ON ,3);setTorque(4 ,TORQUE_ON ,3);
             setTorque(2 ,TORQUE_ON ,3);setTorque(5 ,TORQUE_ON ,3);
             setTorque(3 ,TORQUE_ON ,3);setTorque(6 ,TORQUE_ON ,3);   
+            
+            setTorque(7 ,TORQUE_ON,4);setTorque(10 ,TORQUE_ON,4);
+            
+            setTorque(8 ,TORQUE_ON,4);setTorque(9  ,TORQUE_ON,4);setTorque(11 ,TORQUE_ON,4);
 }
 
 void verouillage_torque(void)  //débloquer les servomoteurs
@@ -31,10 +35,14 @@
             
             setTorque(1 ,BREAK_ON ,3);setTorque(4 ,BREAK_ON ,3);
             setTorque(2 ,BREAK_ON ,3);setTorque(5 ,BREAK_ON ,3);
-            setTorque(3 ,BREAK_ON ,3);setTorque(6 ,BREAK_ON ,3);   
+            setTorque(3 ,BREAK_ON ,3);setTorque(6 ,BREAK_ON ,3);
+            
+            setTorque(7 ,BREAK_ON,4);setTorque(10 ,BREAK_ON,4);
+            
+            setTorque(8 ,BREAK_ON,5);setTorque(9  ,BREAK_ON,5);setTorque(11 ,BREAK_ON,5);  
 }
-
-void clear_all(void)
+//peut être pas utile
+/*void clear_all(void)
 {
     clear(1,1);clear(4,1);
     clear(2,1);clear(5,1);
@@ -47,4 +55,4 @@
     clear(1,3);clear(4,3);
     clear(2,3);clear(5,3);
     clear(3,3);clear(6,3); 
-}
\ No newline at end of file
+}*/
\ No newline at end of file