CRAC Team / AX12_PR

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

Fork of test_carteAToutFaire_PR by CRAC Team

Files at this revision

API Documentation at this revision

Revision 4:5cf096b1c65d, committed 2017-05-20

Comitter:
EdouardGE1
Date:
Sat May 20 10:14:28 2017 +0000
Parent:
3:0175a071dd65
Commit message:
Pour clement

Changed in this revision

Actionneur.cpp Show annotated file Show diff for this revision Revisions of this file
main.cpp Show annotated file Show diff for this revision Revisions of this file 
--- 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;

--- a/main.cpp	Sat May 20 09:36:35 2017 +0000
+++ b/main.cpp	Sat May 20 10:14:28 2017 +0000
@@ -49,7 +49,6 @@
     initialisation_AX12();
      
     //PINCE CENTRALE
-    /*
     AX12_automate(AX12_PINCE_CENTRALE_POSITION_INITIALE);
     wait(1);
     AX12_automate(AX12_PINCE_CENTRALE_PREPARATION_PRISE);
@@ -74,7 +73,7 @@
     wait(1);
     AX12_automate(AX12_PINCE_CENTRALE_DEPOSER);
     wait(1);
-    */
+
     
     //BRAS GAUCHE
     /*
@@ -108,14 +107,16 @@
     wait(2);
     */
     
+    /*
     AX12_automate(AX12_DROIT_CROC_INITIALE);
     wait(2);
     AX12_automate(AX12_GAUCHE_CROC_INITIALE);
     wait(3);
+    */
 
 
     while(1) {
-        AX12_automate(AX12_POSITION);
+        //AX12_automate(AX12_POSITION);
         
         led = !led;
         canProcessRx();//Traitement des trames CAN en attente