CRAC Team / Mbed 2 deprecated ACRAC_carte_esclave_GROS_ROBOT_2019

Carte esclave gros robot

Dependencies:   mbed Herkulex_Library_2019 ident_crac actions_Pr

Diff: main.cpp

Revision:
41:a71d06f292ac
Parent:
39:124575240d09
Child:
42:a7300d563596
--- a/main.cpp	Thu May 23 18:42:51 2019 +0000
+++ b/main.cpp	Fri May 24 19:36:51 2019 +0000
@@ -52,11 +52,9 @@
 
 #ifdef ROBOT_BIG
     pc.printf("\nGros robot\n\n");
-    //clear(doigt,2);
-    //setTorque(doigt, TORQUE_ON,2);
     deverouillage_torque();
     positionControl(doigt,384,100,BLED_ON,2);
-    wait(1.0);
+    wait(0.5);
 #endif
 
     gabarit_robot();
@@ -99,6 +97,8 @@
 
         fifo_couleur();
         ascenseur();
+        convoyeur_gauche();
+        convoyeur_droit();
 
 #endif
 
@@ -197,6 +197,10 @@
             case HACHEUR_RELEASE_ATOM_ACK :
                 status_pompe &= ~(0x01 << msgRxBuffer[FIFO_lecture].data[0]);
                 break;
+                
+            case HACHEUR_ETAT_CONTACTS : 
+                status_contact = msgRxBuffer[FIFO_lecture].data[0];
+                break;
 
 //-------------------------------------------------------------------------------------------------------------------------------------------