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

Actionneur.h@4:5cf096b1c65d, 2017-05-20 (annotated)

Committer:
EdouardGE1
Date:
Sat May 20 10:14:28 2017 +0000
Revision:
4:5cf096b1c65d
Parent:
3:0175a071dd65 
Pour clement

Who changed what in which revision?

UserRevisionLine numberNew contents of line
EdouardGE1 3:0175a071dd65 1 #define AX12_PINCE_CENTRALE_POSITION_INITIALE 1
EdouardGE1 3:0175a071dd65 2 #define AX12_PINCE_CENTRALE_PREPARATION_PRISE 2
EdouardGE1 3:0175a071dd65 3 #define AX12_PINCE_CENTRALE_PRISE_MODULE 3
EdouardGE1 3:0175a071dd65 4 #define AX12_PINCE_CENTRALE_STOCKAGE_HAUT 4
EdouardGE1 3:0175a071dd65 5 #define AX12_PINCE_CENTRALE_STOCKAGE_BAS 5
EdouardGE1 3:0175a071dd65 6 #define AX12_PINCE_CENTRALE_PREPARATION_DEPOT 6
EdouardGE1 3:0175a071dd65 7 #define AX12_PINCE_CENTRALE_DEPOSER 7
EdouardGE1 3:0175a071dd65 8 #define AX12_PINCE_CENTRALE_DEPOT_HAUT 8
EdouardGE1 3:0175a071dd65 9
EdouardGE1 3:0175a071dd65 10 #define AX12_GAUCHE_CROC_OUVERT 11
EdouardGE1 3:0175a071dd65 11 #define AX12_GAUCHE_CROC_FERME 12
EdouardGE1 3:0175a071dd65 12 #define AX12_DROIT_CROC_INITIALE 13
EdouardGE1 3:0175a071dd65 13
EdouardGE1 3:0175a071dd65 14
EdouardGE1 3:0175a071dd65 15 #define AX12_DROIT_CROC_OUVERT 14
EdouardGE1 3:0175a071dd65 16 #define AX12_DROIT_CROC_FERME 15
EdouardGE1 3:0175a071dd65 17 #define AX12_GAUCHE_CROC_INITIALE 16
EdouardGE1 3:0175a071dd65 18
EdouardGE1 3:0175a071dd65 19 #define AX12_TOURNANTE_GAUCHE_POSITION_INITIALE 21
EdouardGE1 3:0175a071dd65 20 #define AX12_TOURNANTE_GAUCHE_PREPARATION 22
EdouardGE1 3:0175a071dd65 21 #define AX12_TOURNANTE_GAUCHE_MODULE 23
EdouardGE1 3:0175a071dd65 22
EdouardGE1 3:0175a071dd65 23 #define AX12_TOURNANTE_DROIT_POSITION_INITIALE 24
EdouardGE1 3:0175a071dd65 24 #define AX12_TOURNANTE_DROIT_PREPARATION 25
EdouardGE1 3:0175a071dd65 25 #define AX12_TOURNANTE_DROIT_MODULE 26
EdouardGE1 3:0175a071dd65 26
EdouardGE1 3:0175a071dd65 27 #define AX12_POSITION 100
EdouardGE1 3:0175a071dd65 28 #define AX12_DEFAUT 0
EdouardGE1 3:0175a071dd65 29
EdouardGE1 3:0175a071dd65 30 #define AX12_DOIGT 4
EdouardGE1 3:0175a071dd65 31 #define AX12_BASE 5
EdouardGE1 3:0175a071dd65 32 #define AX12_COUDE 6
EdouardGE1 3:0175a071dd65 33 #define AX12_PINCEG 7
EdouardGE1 3:0175a071dd65 34 #define AX12_PINCED 8
EdouardGE1 3:0175a071dd65 35 #define AX12_GAUCHE_EPAULE 1
EdouardGE1 3:0175a071dd65 36 #define AX12_GAUCHE_COUDE 2
EdouardGE1 3:0175a071dd65 37 #define AX12_DROIT_EPAULE 9
EdouardGE1 3:0175a071dd65 38 #define AX12_DROIT_COUDE 10
matthieuvignon 2:9d280856a536 39
matthieuvignon 2:9d280856a536 40 #define TOLERANCE_AX12 50
matthieuvignon 2:9d280856a536 41
matthieuvignon 2:9d280856a536 42 /* PROTOTYPES DE FONCTIONS ET POINTEURS */
matthieuvignon 2:9d280856a536 43
matthieuvignon 2:9d280856a536 44
matthieuvignon 2:9d280856a536 45
matthieuvignon 2:9d280856a536 46 /****************************************************************************************/
matthieuvignon 2:9d280856a536 47 /* FUNCTION NAME: Fin_action */
matthieuvignon 2:9d280856a536 48 /* DESCRIPTION : Fonction qui confirme la fin de mouvement des AX12 */
matthieuvignon 2:9d280856a536 49 /****************************************************************************************/
matthieuvignon 2:9d280856a536 50 void Fin_action(void);
matthieuvignon 2:9d280856a536 51
matthieuvignon 2:9d280856a536 52
matthieuvignon 2:9d280856a536 53 /****************************************************************************************/
matthieuvignon 2:9d280856a536 54 /* FUNCTION NAME: Initialisation_position */
matthieuvignon 2:9d280856a536 55 /* DESCRIPTION : Fonction qui place les bras en position verticale */
matthieuvignon 2:9d280856a536 56 /****************************************************************************************/
matthieuvignon 2:9d280856a536 57 void Initialisation_position(unsigned char choix);
matthieuvignon 2:9d280856a536 58
EdouardGE1 3:0175a071dd65 59 void mvtBrasCentralPR(unsigned char ID1, unsigned short GSpeed1, unsigned short GPosition1,
EdouardGE1 3:0175a071dd65 60 unsigned char ID2, unsigned short GSpeed2, unsigned short GPosition2,
EdouardGE1 3:0175a071dd65 61 unsigned char ID3, unsigned short GSpeed3, unsigned short GPosition3,
EdouardGE1 3:0175a071dd65 62 unsigned char ID4, unsigned short GSpeed4, unsigned short GPosition4,
EdouardGE1 3:0175a071dd65 63 unsigned char ID5, unsigned short GSpeed5, unsigned short GPosition5);
EdouardGE1 3:0175a071dd65 64
EdouardGE1 3:0175a071dd65 65 void mvtBrasGauchePR(unsigned char ID1, unsigned short GSpeed1, unsigned short GPosition1,
EdouardGE1 3:0175a071dd65 66 unsigned char ID2, unsigned short GSpeed2, unsigned short GPosition2);
EdouardGE1 3:0175a071dd65 67
EdouardGE1 3:0175a071dd65 68 void mvtBrasDroitPR(unsigned char ID1, unsigned short GSpeed1, unsigned short GPosition1,
EdouardGE1 3:0175a071dd65 69 unsigned char ID2, unsigned short GSpeed2, unsigned short GPosition2);