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Dependencies:   mbed Herkulex_Library_2019 ident_crac actions_Pr

Actionneurs/herkulex_rob.cpp@47:ced7758fb2ce, 2020-03-12 (annotated)

Committer:
maximilienlv
Date:
Thu Mar 12 06:40:56 2020 +0000
Revision:
47:ced7758fb2ce
Parent:
45:11614fc23e53
Child:
49:af201920161a
optimisation et suppression de fonctions inutiles;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
kyxstark 23:93a427b242ce 1 #include "herkulex_rob.h"
kyxstark 23:93a427b242ce 2
kyxstark 23:93a427b242ce 3 //---------------------------------------------------------------------------------------------
maximilienlv 47:ced7758fb2ce 4 void deverouillage_torque(void) //débloquer les servomoteurs
kyxstark 23:93a427b242ce 5 {
maximilienlv 47:ced7758fb2ce 6 pc.printf("\ndeverouillage_torque\n\r");
maximilienlv 47:ced7758fb2ce 7 setTorque(1 ,TORQUE_ON ,1);setTorque(4 ,TORQUE_ON ,1);
maximilienlv 47:ced7758fb2ce 8 setTorque(2 ,TORQUE_ON ,1);setTorque(5 ,TORQUE_ON ,1);
maximilienlv 47:ced7758fb2ce 9 setTorque(3 ,TORQUE_ON ,1);setTorque(6 ,TORQUE_ON ,1);
maximilienlv 47:ced7758fb2ce 10
maximilienlv 47:ced7758fb2ce 11 setTorque(1 ,TORQUE_ON ,2);setTorque(4 ,TORQUE_ON ,2);
maximilienlv 47:ced7758fb2ce 12 setTorque(2 ,TORQUE_ON ,2);setTorque(5 ,TORQUE_ON ,2);
maximilienlv 47:ced7758fb2ce 13 setTorque(3 ,TORQUE_ON ,2);setTorque(6 ,TORQUE_ON ,2);
maximilienlv 47:ced7758fb2ce 14
maximilienlv 47:ced7758fb2ce 15 setTorque(1 ,TORQUE_ON ,3);setTorque(4 ,TORQUE_ON ,3);
maximilienlv 47:ced7758fb2ce 16 setTorque(2 ,TORQUE_ON ,3);setTorque(5 ,TORQUE_ON ,3);
maximilienlv 47:ced7758fb2ce 17 setTorque(3 ,TORQUE_ON ,3);setTorque(6 ,TORQUE_ON ,3);
kyxstark 23:93a427b242ce 18 }
kyxstark 23:93a427b242ce 19
maximilienlv 47:ced7758fb2ce 20 void clear_all(void)
kyxstark 23:93a427b242ce 21 {
maximilienlv 47:ced7758fb2ce 22 clear(1,1);clear(4,1);
maximilienlv 47:ced7758fb2ce 23 clear(2,1);clear(5,1);
maximilienlv 47:ced7758fb2ce 24 clear(3,1);clear(6,1);
maximilienlv 47:ced7758fb2ce 25
maximilienlv 47:ced7758fb2ce 26 clear(1,2);clear(4,2);
maximilienlv 47:ced7758fb2ce 27 clear(2,2);clear(5,2);
maximilienlv 47:ced7758fb2ce 28 clear(3,2);clear(6,2);
maximilienlv 47:ced7758fb2ce 29
maximilienlv 47:ced7758fb2ce 30 clear(1,3);clear(4,3);
maximilienlv 47:ced7758fb2ce 31 clear(2,3);clear(5,3);
maximilienlv 47:ced7758fb2ce 32 clear(3,3);clear(6,3);
maximilienlv 47:ced7758fb2ce 33 }