CRAC Team / AX12_PR

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Fork of test_carteAToutFaire_PR by CRAC Team

Diff: Actionneur.cpp

Revision:
4:5cf096b1c65d
Parent:
3:0175a071dd65
--- a/Actionneur.cpp	Sat May 20 09:36:35 2017 +0000
+++ b/Actionneur.cpp	Sat May 20 10:14:28 2017 +0000
@@ -198,7 +198,7 @@
         case AX12_PINCE_CENTRALE_STOCKAGE_BAS :
             wait_ms(TIME);
             GoalPosDoigt=90;
-            GoalPosBase=1200;
+            GoalPosBase=1000;
             GoalPosCoude=443;
             GoalPosPinceG=500;
             GoalPosPinceD=2500;
@@ -242,23 +242,23 @@
         case AX12_PINCE_CENTRALE_DEPOT_HAUT :
             wait(TIME*5);
             GoalPosDoigt=90;
-            GoalPosBase=1300;
-            GoalPosCoude=1200;
+            GoalPosBase=1100;
+            GoalPosCoude=1400;
             GoalPosPinceG=1090;
             GoalPosPinceD=1930;
             mvtBrasCentralPR(AX12_DOIGT, speed, GoalPosDoigt, AX12_BASE, speed, GoalPosBase, AX12_COUDE, speed, GoalPosCoude, AX12_PINCEG, speed, GoalPosPinceG, AX12_PINCED, speed, GoalPosPinceD);   
             
             wait(TIME*10);
             GoalPosDoigt=90;
-            GoalPosBase=1300;
-            GoalPosCoude=1200;
+            GoalPosBase=1100;
+            GoalPosCoude=1400;
             GoalPosPinceG=500;
             GoalPosPinceD=2500;
             mvtBrasCentralPR(AX12_DOIGT, speed, GoalPosDoigt, AX12_BASE, speed, GoalPosBase, AX12_COUDE, speed, GoalPosCoude, AX12_PINCEG, speed, GoalPosPinceG, AX12_PINCED, speed, GoalPosPinceD);   
             
-            wait_ms(TIME);
+            wait(TIME*10);
             GoalPosDoigt=90;
-            GoalPosBase=1300;
+            GoalPosBase=1100;
             GoalPosCoude=700;
             GoalPosPinceG=500;
             GoalPosPinceD=2500;