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Dependencies:   mbed bloc_8_pompe2 Herkulex_library_2022 ident_crac1 bloc_pompe2

Gestion_Torque/torque.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 "torque.h"
ares1999 2:c7f2e7d8b305 2
ares1999 3:77e937c315f1 3 void activer_torque(void) //Active le couple sur de tous les servomoteurs sur toutes les liaisons séries
ares1999 2:c7f2e7d8b305 4 {
ares1999 3:77e937c315f1 5 for(int i=1;i<=12;i++)
ares1999 2:c7f2e7d8b305 6 {
ares1999 2:c7f2e7d8b305 7 setTorque(i,TORQUE_ON,1);
ares1999 2:c7f2e7d8b305 8 setTorque(i,TORQUE_ON,2);
ares1999 2:c7f2e7d8b305 9 setTorque(i,TORQUE_ON,3);
ares1999 2:c7f2e7d8b305 10 setTorque(i,TORQUE_ON,4);
ares1999 2:c7f2e7d8b305 11 setTorque(i,TORQUE_ON,5);
ares1999 2:c7f2e7d8b305 12 }
ares1999 2:c7f2e7d8b305 13 }
ares1999 2:c7f2e7d8b305 14
ares1999 3:77e937c315f1 15 void desactiver_torque(void) //Désactive le couple de tous les servomoteurs sur toutes les liaisons séries
ares1999 2:c7f2e7d8b305 16 {
ares1999 3:77e937c315f1 17 for(int i=1;i<=12;i++)
ares1999 2:c7f2e7d8b305 18 {
ares1999 2:c7f2e7d8b305 19 setTorque(i,TORQUE_FREE,1);
ares1999 2:c7f2e7d8b305 20 setTorque(i,TORQUE_FREE,2);
ares1999 2:c7f2e7d8b305 21 setTorque(i,TORQUE_FREE,3);
ares1999 2:c7f2e7d8b305 22 setTorque(i,TORQUE_FREE,4);
ares1999 2:c7f2e7d8b305 23 setTorque(i,TORQUE_FREE,5);
ares1999 2:c7f2e7d8b305 24 }
ares1999 2:c7f2e7d8b305 25 }