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strat des robots
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Robots/Config_small.h@17:d1594579eec6, 2017-05-19 (annotated)
- Committer:
- ClementBreteau
- Date:
- Fri May 19 17:14:07 2017 +0000
- Revision:
- 17:d1594579eec6
- Parent:
- 12:14729d584500
strat du robot, 19-05-2017, 19h
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| antbig | 3:19f2285a4757 | 1 | #ifndef CRAC_CONFIG_SMALL |
| antbig | 3:19f2285a4757 | 2 | #define CRAC_CONFIG_SMALL |
| antbig | 3:19f2285a4757 | 3 | /** |
| antbig | 3:19f2285a4757 | 4 | Fichier de configuration des action specifique au petit robot |
| antbig | 3:19f2285a4757 | 5 | **/ |
| antbig | 11:ed13a480ddca | 6 | #define AX12_ID_BRAS_BASE_DROIT 17 |
| antbig | 11:ed13a480ddca | 7 | #define AX12_ID_BRAS_RELACHEUR_DROIT 16 |
| antbig | 11:ed13a480ddca | 8 | #define AX12_ID_BRAS_BASE_GAUCHE 1 |
| antbig | 11:ed13a480ddca | 9 | #define AX12_ID_BRAS_RELACHEUR_GAUCHE 2 |
| antbig | 11:ed13a480ddca | 10 | #define AX12_ID_PALET_DROIT 4 |
| antbig | 11:ed13a480ddca | 11 | #define AX12_ID_PALET_GAUCHE 18 |
| antbig | 11:ed13a480ddca | 12 | |
| antbig | 11:ed13a480ddca | 13 | #define AX12_ANGLE_BRAS_BASE_DROIT_REPLIER 60 |
| antbig | 11:ed13a480ddca | 14 | #define AX12_ANGLE_BRAS_BASE_DROIT_MOITER 105 |
| antbig | 11:ed13a480ddca | 15 | #define AX12_ANGLE_BRAS_BASE_DROIT_RELACHER 120 |
| antbig | 11:ed13a480ddca | 16 | #define AX12_ANGLE_BRAS_BASE_DROIT_OUVERT 150 |
| antbig | 11:ed13a480ddca | 17 | |
| antbig | 11:ed13a480ddca | 18 | #define AX12_ANGLE_BRAS_BASE_GAUCHE_REPLIER 187 |
| antbig | 11:ed13a480ddca | 19 | #define AX12_ANGLE_BRAS_BASE_GAUCHE_MOITER 145 |
| antbig | 11:ed13a480ddca | 20 | #define AX12_ANGLE_BRAS_BASE_GAUCHE_RELACHER 130 |
| antbig | 11:ed13a480ddca | 21 | #define AX12_ANGLE_BRAS_BASE_GAUCHE_OUVERT 100 |
| antbig | 11:ed13a480ddca | 22 | |
| antbig | 11:ed13a480ddca | 23 | #define AX12_ANGLE_BRAS_RELACHEUR_DROIT_REPLIER 202 |
| antbig | 11:ed13a480ddca | 24 | #define AX12_ANGLE_BRAS_RELACHEUR_DROIT_OUVERT 240 |
| antbig | 11:ed13a480ddca | 25 | |
| antbig | 11:ed13a480ddca | 26 | #define AX12_ANGLE_BRAS_RELACHEUR_GAUCHE_REPLIER 150 |
| antbig | 11:ed13a480ddca | 27 | #define AX12_ANGLE_BRAS_RELACHEUR_GAUCHE_OUVERT 110 |
| antbig | 11:ed13a480ddca | 28 | |
| antbig | 11:ed13a480ddca | 29 | #define AX12_ANGLE_PALET_DROIT_FERMER 147 |
| antbig | 11:ed13a480ddca | 30 | #define AX12_ANGLE_PALET_DROIT_ROCHET 55 |
| antbig | 11:ed13a480ddca | 31 | #define AX12_ANGLE_PALET_DROIT_OUVERT 40 |
| antbig | 11:ed13a480ddca | 32 | |
| antbig | 11:ed13a480ddca | 33 | #define AX12_ANGLE_PALET_GAUCHE_FERMER 157 |
| antbig | 11:ed13a480ddca | 34 | #define AX12_ANGLE_PALET_GAUCHE_ROCHET 247 |
| antbig | 11:ed13a480ddca | 35 | #define AX12_ANGLE_PALET_GAUCHE_OUVERT 265 |
| antbig | 11:ed13a480ddca | 36 | |
| antbig | 11:ed13a480ddca | 37 | #define AX12_SPEED_BRAS_BASE 0x096 |
| antbig | 11:ed13a480ddca | 38 | #define AX12_SPEED_BRAS_RELACHEUR 0x200 |
| antbig | 11:ed13a480ddca | 39 | #define AX12_SPEED_PALET 0x200 |
| antbig | 3:19f2285a4757 | 40 | |
| antbig | 10:a788d9cf60f2 | 41 | #define XL320_ID_PINCE_DROITE 5 |
| antbig | 12:14729d584500 | 42 | #define XL320_ID_PINCE_GAUCHE 4 |
| antbig | 10:a788d9cf60f2 | 43 | |
| antbig | 11:ed13a480ddca | 44 | #define XL320_ANGLE_PINCE_DROITE_FERMER 70 |
| antbig | 11:ed13a480ddca | 45 | #define XL320_ANGLE_PINCE_DROITE_SECURISE 300 |
| antbig | 11:ed13a480ddca | 46 | #define XL320_ANGLE_PINCE_DROITE_OUVERTE 400 |
| antbig | 11:ed13a480ddca | 47 | |
| antbig | 11:ed13a480ddca | 48 | #define XL320_ANGLE_PINCE_GAUCHE_FERMER 650 |
| antbig | 11:ed13a480ddca | 49 | #define XL320_ANGLE_PINCE_GAUCHE_SECURISE 400 |
| antbig | 11:ed13a480ddca | 50 | #define XL320_ANGLE_PINCE_GAUCHE_OUVERTE 350 |
| antbig | 11:ed13a480ddca | 51 | |
| antbig | 3:19f2285a4757 | 52 | |
| antbig | 3:19f2285a4757 | 53 | #endif |