Diff: main.cpp

Revision:

13:178eaf022d60

Parent:

12:2491a5b0f90b

Parent:

11:98dfe1a61df5

Child:

16:5e00af31ae8a

--- a/main.cpp	Thu May 23 08:41:01 2019 +0000
+++ b/main.cpp	Thu May 23 08:46:27 2019 +0000
@@ -118,15 +118,15 @@
             #ifdef ROBOT_BIG            
             
             case HACHEUR_GET_PRESENTOIR_AV :
-                ventouse[PGR_GAUCHE]->action(1);
-                ventouse[PGR_CENTRE]->action(1);
-                ventouse[PGR_DROIT]->action(1);
+                ventouse[AV_GAUCHE]->action(1);
+                ventouse[AV_CENTRE]->action(1);
+                ventouse[AV_DROIT]->action(1);
                 break;
             
             case HACHEUR_RELEASE_AV :
-                ventouse[PGR_GAUCHE]->action(0);
-                ventouse[PGR_CENTRE]->action(0);
-                ventouse[PGR_DROIT]->action(0);
+                ventouse[AV_GAUCHE]->action(0);
+                ventouse[AV_CENTRE]->action(0);
+                ventouse[AV_DROIT]->action(0);
                 break;
             
             case HACHEUR_ID_COUROIES :
@@ -162,9 +162,9 @@
     
     #ifdef ROBOT_BIG
     pc.printf("\nGros robot\n\n");
-    ventouse[PGR_GAUCHE] = new Ventouse(PA_6, PA_5, PA_7, PGR_GAUCHE);
-    ventouse[PGR_CENTRE] = new Ventouse(PA_0, PA_1, PA_4, PGR_CENTRE);
-    ventouse[PGR_DROIT] = new Ventouse(PA_11, PA_15, PC_1, PGR_DROIT);
+    ventouse[AV_GAUCHE] = new Ventouse(PA_6, PA_5, PA_7, AV_GAUCHE);
+    ventouse[AV_CENTRE] = new Ventouse(PA_0, PA_1, PA_4, AV_CENTRE);
+    ventouse[AV_DROIT] = new Ventouse(PA_11, PA_15, PC_1, AV_DROIT);
     
     for (int i=0; i<8; i++){
         ascenseur[i].period_us(50);
@@ -189,6 +189,9 @@
                 ventouse[i]->setPompe(0.0);
                 ventouse[i]->setElectrovanne(0);
             }
+            #ifdef ROBOT_BIG
+            set_ascensseur(0);
+            #endif
             while(1){;}
         }
     }