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Dependencies:   mbed bloc_8_pompe2 Herkulex_library_2022 ident_crac1 bloc_pompe2

Action_bras/actions.cpp@3:77e937c315f1, 2022-04-26 (annotated)

Committer:
ares1999
Date:
Tue Apr 26 14:08:43 2022 +0000
Revision:
3:77e937c315f1
Parent:
2:c7f2e7d8b305 
mesure position servo 4 5 6 sur serial 2

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ares1999 2:c7f2e7d8b305 1 #include "actions.h"
ares1999 2:c7f2e7d8b305 2
ares1999 2:c7f2e7d8b305 3 uint8_t servos_bras_testeur[2] = {RLED_ON, 1};
ares1999 2:c7f2e7d8b305 4 uint16_t pos_testeur[1] = {400};
ares1999 2:c7f2e7d8b305 5
ares1999 3:77e937c315f1 6 /*void fct_prise_avant(char serial_select) //moteurs 1,2,3
ares1999 2:c7f2e7d8b305 7 {
ares1999 2:c7f2e7d8b305 8 //Rangement
ares1999 2:c7f2e7d8b305 9 positionControl_Mul_ensemble(AV_BASE, 1000, PLAYTIME, RLED_ON, AV_MILIEU, 160, RLED_ON, serial_select);
ares1999 2:c7f2e7d8b305 10 positionControl(AV_HAUT, 750, PLAYTIME, RLED_ON, serial_select);
ares1999 3:77e937c315f1 11 wait_ms(TEMPO);
ares1999 2:c7f2e7d8b305 12 //Pré Prise
ares1999 2:c7f2e7d8b305 13 positionControl(AV_HAUT, 650, PLAYTIME, GLED_ON, serial_select);
ares1999 2:c7f2e7d8b305 14 positionControl_Mul_ensemble(AV_BASE, 500, PLAYTIME, GLED_ON, AV_MILIEU, 600, GLED_ON, serial_select);
ares1999 2:c7f2e7d8b305 15 wait_ms(TEMPO_LONGUE);
ares1999 2:c7f2e7d8b305 16 //Prise
ares1999 2:c7f2e7d8b305 17 positionControl(AV_HAUT, 685, PLAYTIME, GLED_ON, serial_select);
ares1999 2:c7f2e7d8b305 18 positionControl_Mul_ensemble(AV_BASE, 445, PLAYTIME, GLED_ON, AV_MILIEU, 590, GLED_ON, serial_select);
ares1999 2:c7f2e7d8b305 19 wait_ms(TEMPO_LONGUE);
ares1999 2:c7f2e7d8b305 20 //Rangement echantillon
ares1999 2:c7f2e7d8b305 21 positionControl_Mul_ensemble(AV_BASE, 1000, PLAYTIME, BLED_ON, AV_MILIEU, 160, BLED_ON, serial_select);
ares1999 2:c7f2e7d8b305 22 positionControl(AV_HAUT, 510, PLAYTIME, BLED_ON, serial_select);
ares1999 3:77e937c315f1 23 wait_ms(TEMPO);
ares1999 3:77e937c315f1 24 }*/
ares1999 3:77e937c315f1 25
ares1999 3:77e937c315f1 26 void fct_prise_arriere(char serial_select) //moteurs 4,5,6
ares1999 3:77e937c315f1 27 {
ares1999 3:77e937c315f1 28 //Rangement
ares1999 3:77e937c315f1 29 positionControl_Mul_ensemble(BAR_BASE, 1000, PLAYTIME, RLED_ON, BAR_MILIEU, 160, RLED_ON, serial_select);
ares1999 3:77e937c315f1 30 positionControl(BAR_HAUT, 750, PLAYTIME, RLED_ON, serial_select);
ares1999 3:77e937c315f1 31 wait_ms(2000);
ares1999 3:77e937c315f1 32 //Pré Prise
ares1999 3:77e937c315f1 33 positionControl(BAR_HAUT, 650, PLAYTIME, GLED_ON, serial_select);
ares1999 3:77e937c315f1 34 positionControl_Mul_ensemble(BAR_BASE, 500, PLAYTIME, GLED_ON, BAR_MILIEU, 600, GLED_ON, serial_select);
ares1999 3:77e937c315f1 35 wait_ms(TEMPO_LONGUE);
ares1999 3:77e937c315f1 36 //Prise
ares1999 3:77e937c315f1 37 positionControl(BAR_HAUT, 685, PLAYTIME, GLED_ON, serial_select);
ares1999 3:77e937c315f1 38 positionControl_Mul_ensemble(BAR_BASE, 445, PLAYTIME, GLED_ON, BAR_MILIEU, 590, GLED_ON, serial_select);
ares1999 3:77e937c315f1 39 wait_ms(TEMPO_LONGUE);
ares1999 3:77e937c315f1 40 //Rangement echantillon
ares1999 3:77e937c315f1 41 positionControl_Mul_ensemble(BAR_BASE, 1000, PLAYTIME, BLED_ON, BAR_MILIEU, 160, BLED_ON, serial_select);
ares1999 3:77e937c315f1 42 positionControl(BAR_HAUT, 510, PLAYTIME, BLED_ON, serial_select);
ares1999 2:c7f2e7d8b305 43 wait_ms(3000);
ares1999 2:c7f2e7d8b305 44 }
ares1999 2:c7f2e7d8b305 45
ares1999 3:77e937c315f1 46
ares1999 3:77e937c315f1 47 void fct_prise(char moteur1, char moteur2, char moteur3,char serial_select)
ares1999 2:c7f2e7d8b305 48 {
ares1999 2:c7f2e7d8b305 49 //Rangement
ares1999 3:77e937c315f1 50 positionControl_Mul_ensemble(moteur1, 570, PLAYTIME, RLED_ON, moteur2, 160, RLED_ON, serial_select);
ares1999 3:77e937c315f1 51 positionControl(moteur3, 750, PLAYTIME, RLED_ON, serial_select);
ares1999 2:c7f2e7d8b305 52 wait_ms(2000);
ares1999 2:c7f2e7d8b305 53 //Pré Prise
ares1999 3:77e937c315f1 54 positionControl(moteur3, 650, PLAYTIME, GLED_ON, serial_select);
ares1999 3:77e937c315f1 55 positionControl_Mul_ensemble(moteur1, 500, PLAYTIME, GLED_ON, moteur2, 600, GLED_ON, serial_select);
ares1999 3:77e937c315f1 56 wait_ms(2000);
ares1999 2:c7f2e7d8b305 57 //Prise
ares1999 3:77e937c315f1 58 positionControl(moteur3, 685, PLAYTIME, GLED_ON, serial_select);
ares1999 3:77e937c315f1 59 positionControl_Mul_ensemble(moteur1, 445, PLAYTIME, GLED_ON, moteur2, 590, GLED_ON, serial_select);
ares1999 3:77e937c315f1 60 wait_ms(2000);
ares1999 2:c7f2e7d8b305 61 //Rangement echantillon
ares1999 3:77e937c315f1 62 positionControl_Mul_ensemble(moteur1, 1000, PLAYTIME, BLED_ON, moteur2, 160, BLED_ON, serial_select);
ares1999 3:77e937c315f1 63 positionControl(moteur3, 510, PLAYTIME, BLED_ON, serial_select);
ares1999 3:77e937c315f1 64 wait_ms(2000);
ares1999 2:c7f2e7d8b305 65 }
ares1999 3:77e937c315f1 66 /*
ares1999 2:c7f2e7d8b305 67
ares1999 2:c7f2e7d8b305 68 void fct_bras(void)
ares1999 2:c7f2e7d8b305 69 {
ares1999 2:c7f2e7d8b305 70 //Rangement bras bas
ares1999 2:c7f2e7d8b305 71 positionControl_Mul_ensemble(AV_BASE, 1000, PLAYTIME, RLED_ON, AV_MILIEU, 160, RLED_ON, SERIAL_BAS_GAUCHE);
ares1999 2:c7f2e7d8b305 72 positionControl(AV_HAUT, 750, PLAYTIME, RLED_ON, SERIAL_BAS_GAUCHE);
ares1999 2:c7f2e7d8b305 73 wait_ms(TEMPO);
ares1999 2:c7f2e7d8b305 74 //Rangement bras haut
ares1999 2:c7f2e7d8b305 75 positionControl_Mul_ensemble(AV_BASE, 955, PLAYTIME, RLED_ON, AV_MILIEU, 35, RLED_ON, SERIAL_HAUT);
ares1999 2:c7f2e7d8b305 76 positionControl(AV_HAUT, 230, PLAYTIME, RLED_ON, SERIAL_HAUT);
ares1999 2:c7f2e7d8b305 77 wait_ms(TEMPO_LONGUE);
ares1999 2:c7f2e7d8b305 78
ares1999 2:c7f2e7d8b305 79 //Prise bras bas
ares1999 2:c7f2e7d8b305 80 positionControl(AV_HAUT, 685, PLAYTIME, GLED_ON, SERIAL_BAS_GAUCHE);
ares1999 2:c7f2e7d8b305 81 positionControl_Mul_ensemble(AV_BASE, 445, PLAYTIME, GLED_ON, AV_MILIEU, 600, GLED_ON, SERIAL_BAS_GAUCHE);
ares1999 2:c7f2e7d8b305 82 wait_ms(TEMPO_LONGUE);
ares1999 2:c7f2e7d8b305 83 //Passe bras bas
ares1999 2:c7f2e7d8b305 84 positionControl_Mul_ensemble(AV_BASE, 470, 40, BLED_ON, AV_MILIEU, 800, BLED_ON, SERIAL_BAS_GAUCHE);
ares1999 2:c7f2e7d8b305 85 wait_ms(TEMPO+250);
ares1999 2:c7f2e7d8b305 86 positionControl(AV_HAUT, 250, 40, BLED_ON, SERIAL_BAS_GAUCHE);
ares1999 2:c7f2e7d8b305 87 wait_ms(TEMPO_LONGUE);
ares1999 2:c7f2e7d8b305 88
ares1999 2:c7f2e7d8b305 89 //Prise bras haut
ares1999 2:c7f2e7d8b305 90 positionControl(AV_HAUT, 630, PLAYTIME, GLED_ON, SERIAL_HAUT);
ares1999 2:c7f2e7d8b305 91 wait_ms(500);
ares1999 2:c7f2e7d8b305 92 positionControl_Mul_ensemble(AV_BASE, 800, PLAYTIME, GLED_ON, AV_MILIEU, 110, GLED_ON, SERIAL_HAUT);
ares1999 2:c7f2e7d8b305 93 wait_ms(TEMPO_LONGUE);
ares1999 2:c7f2e7d8b305 94 //Pré rangement bras haut
ares1999 2:c7f2e7d8b305 95 positionControl_Mul_ensemble(AV_BASE, 920, PLAYTIME, RLED_ON, AV_MILIEU, 70, RLED_ON, SERIAL_HAUT);
ares1999 2:c7f2e7d8b305 96 positionControl(AV_HAUT, 650, PLAYTIME, RLED_ON, SERIAL_HAUT);
ares1999 2:c7f2e7d8b305 97
ares1999 2:c7f2e7d8b305 98 //Pré rangement bras bas
ares1999 2:c7f2e7d8b305 99 positionControl_Mul_ensemble(AV_BASE, 520, PLAYTIME, RLED_ON, AV_MILIEU, 160, RLED_ON, SERIAL_BAS_GAUCHE);
ares1999 2:c7f2e7d8b305 100 positionControl(AV_HAUT, 750, PLAYTIME, RLED_ON, SERIAL_BAS_GAUCHE);
ares1999 2:c7f2e7d8b305 101 wait_ms(TEMPO_LONGUE);
ares1999 2:c7f2e7d8b305 102 //Rangement bras bas
ares1999 2:c7f2e7d8b305 103 positionControl_Mul_ensemble(AV_HAUT, 750, PLAYTIME, RLED_ON, AV_MILIEU, 160, RLED_ON, SERIAL_BAS_GAUCHE);
ares1999 2:c7f2e7d8b305 104 positionControl(AV_BASE, 1000, PLAYTIME, RLED_ON, SERIAL_BAS_GAUCHE);
ares1999 2:c7f2e7d8b305 105 wait_ms(TEMPO);
ares1999 3:77e937c315f1 106 }*/
ares1999 3:77e937c315f1 107
ares1999 3:77e937c315f1 108 void fct_bras_arriere(char serial_select)
ares1999 3:77e937c315f1 109 {
ares1999 3:77e937c315f1 110 //Rangement bras bas
ares1999 3:77e937c315f1 111 positionControl_Mul_ensemble(BAR_BASE, 1000, PLAYTIME, RLED_ON, BAR_MILIEU, 160, RLED_ON, serial_select);
ares1999 3:77e937c315f1 112 positionControl(BAR_HAUT, 750, PLAYTIME, RLED_ON, serial_select);
ares1999 3:77e937c315f1 113 wait_ms(TEMPO);
ares1999 3:77e937c315f1 114 //Rangement bras haut
ares1999 3:77e937c315f1 115 positionControl_Mul_ensemble(HAR_BASE, 955, PLAYTIME, RLED_ON, HAR_MILIEU, 35, RLED_ON, serial_select);
ares1999 3:77e937c315f1 116 positionControl(HAR_HAUT, 230, PLAYTIME, RLED_ON, serial_select);
ares1999 3:77e937c315f1 117 wait_ms(TEMPO_LONGUE);
ares1999 3:77e937c315f1 118
ares1999 3:77e937c315f1 119 //Prise bras bas
ares1999 3:77e937c315f1 120 positionControl(BAR_HAUT, 685, PLAYTIME, GLED_ON, serial_select);
ares1999 3:77e937c315f1 121 positionControl_Mul_ensemble(BAR_BASE, 445, PLAYTIME, GLED_ON, BAR_MILIEU, 600, GLED_ON, serial_select);
ares1999 3:77e937c315f1 122 wait_ms(TEMPO_LONGUE);
ares1999 3:77e937c315f1 123 //Passe bras bas
ares1999 3:77e937c315f1 124 positionControl_Mul_ensemble(BAR_BASE, 470, 40, BLED_ON, BAR_MILIEU, 800, BLED_ON, serial_select);
ares1999 3:77e937c315f1 125 wait_ms(TEMPO+250);
ares1999 3:77e937c315f1 126 positionControl(BAR_HAUT, 250, 40, BLED_ON, serial_select);
ares1999 3:77e937c315f1 127 wait_ms(TEMPO_LONGUE);
ares1999 3:77e937c315f1 128
ares1999 3:77e937c315f1 129 //Prise bras haut
ares1999 3:77e937c315f1 130 positionControl(HAR_HAUT, 630, PLAYTIME, GLED_ON, serial_select);
ares1999 3:77e937c315f1 131 wait_ms(500);
ares1999 3:77e937c315f1 132 positionControl_Mul_ensemble(HAR_BASE, 800, PLAYTIME, GLED_ON, HAR_MILIEU, 110, GLED_ON, serial_select);
ares1999 3:77e937c315f1 133 wait_ms(TEMPO_LONGUE);
ares1999 3:77e937c315f1 134 //Pré rangement bras haut
ares1999 3:77e937c315f1 135 positionControl_Mul_ensemble(HAR_BASE, 920, PLAYTIME, RLED_ON, HAR_MILIEU, 70, RLED_ON, serial_select);
ares1999 3:77e937c315f1 136 positionControl(HAR_HAUT, 650, PLAYTIME, RLED_ON, serial_select);
ares1999 3:77e937c315f1 137
ares1999 3:77e937c315f1 138 //Pré rangement bras bas
ares1999 3:77e937c315f1 139 positionControl_Mul_ensemble(BAR_BASE, 520, PLAYTIME, RLED_ON, BAR_MILIEU, 160, RLED_ON, serial_select);
ares1999 3:77e937c315f1 140 positionControl(BAR_HAUT, 750, PLAYTIME, RLED_ON, serial_select);
ares1999 3:77e937c315f1 141 wait_ms(TEMPO_LONGUE);
ares1999 3:77e937c315f1 142 //Rangement bras bas
ares1999 3:77e937c315f1 143 positionControl_Mul_ensemble(BAR_HAUT, 750, PLAYTIME, RLED_ON, BAR_MILIEU, 160, RLED_ON, serial_select);
ares1999 3:77e937c315f1 144 positionControl(BAR_BASE, 1000, PLAYTIME, RLED_ON, serial_select);
ares1999 3:77e937c315f1 145 wait_ms(TEMPO);
ares1999 3:77e937c315f1 146 }
ares1999 3:77e937c315f1 147
ares1999 3:77e937c315f1 148 void activer_CN(void)
ares1999 3:77e937c315f1 149 {
ares1999 3:77e937c315f1 150 positionControl_Mul_ensemble(CN_GAUCHE, 790, PLAYTIME, RLED_ON, CN_DROITE, 240, RLED_ON, SERIAL_SPECIAL);
ares1999 3:77e937c315f1 151 wait_ms(TEMPO);
ares1999 3:77e937c315f1 152 }
ares1999 3:77e937c315f1 153
ares1999 3:77e937c315f1 154 void desactiver_CN(void)
ares1999 3:77e937c315f1 155 {
ares1999 3:77e937c315f1 156 positionControl_Mul_ensemble(CN_GAUCHE, 240, PLAYTIME, RLED_ON, CN_DROITE, 790, RLED_ON, SERIAL_SPECIAL);
ares1999 3:77e937c315f1 157 wait_ms(TEMPO);
ares1999 2:c7f2e7d8b305 158 }