CRAC Team
Carte esclave gros robot
Dependencies: mbed Herkulex_Library_2019 ident_crac actions_Pr
Diff: main.cpp
- Revision:
- 27:d9c3af6b14f6
- Parent:
- 23:93a427b242ce
--- a/main.cpp Wed May 22 20:07:49 2019 +0000
+++ b/main.cpp Wed May 22 21:29:48 2019 +0000
@@ -46,15 +46,15 @@
servo_interrupt_en(); //permettre les interuptions
wait(1);//attente servo boot
-
-
+
+
#ifdef ROBOT_SMALL
pc.printf("\nPetit robot\n\n");
gabarit_petit_robot();
#endif
-
+
#ifdef ROBOT_BIG
pc.printf("\nGros robot\n\n");
clear(doigt,2);
@@ -166,7 +166,7 @@
can.write(msgTx);
SendAck(ACKNOWLEDGE_TELEMETRE,RECEPTION_RECALAGE);
break;
-
+
case PRESENTOIR_AVANT:
fpresentoir_avant=1;
break;
@@ -213,7 +213,7 @@
//-------------------------------------------------------------------------------------------------------------------------------------------
-
+
#ifdef ROBOT_SMALL
//-------------------------------------------------------------------------Actions petit robot----------------------------------------------
@@ -274,6 +274,19 @@
SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION);
break;
+ case ACCELERATEUR_INSERTION_AVANT_GAUCHE:
+ SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION);
+ accelerateur_insertion_avant_gauche();
+ SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION);
+
+ break;
+
+ case ACCELERATEUR_INSERTION_ARRIERE_GAUCHE:
+ SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION);
+ accelerateur_insertion_arriere_gauche();
+ SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION);
+ break;
+
#endif