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Dependencies:   mbed bloc_8_pompe2 Herkulex_library_2022 ident_crac1 bloc_pompe2

Action_bras/actions.cpp@2:c7f2e7d8b305, 2022-03-08 (annotated)

Committer:
ares1999
Date:
Tue Mar 08 16:03:27 2022 +0000
Revision:
2:c7f2e7d8b305
Child:
3:77e937c315f1
t

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 2:c7f2e7d8b305 6 void fct_opti(void)
ares1999 2:c7f2e7d8b305 7 {
ares1999 2:c7f2e7d8b305 8 //positionControl_Mul_ensemble_complex(1, 60, servos_bras_testeur, pos_testeur, SERIAL_BAS_DROITE);
ares1999 2:c7f2e7d8b305 9 //(uint8_t nb_servo, uint8_t playtime, uint8_t* data, uint16_t* pos, uint8_t numero_serial) // uint16_t position, uint8_t setLED, uint8_t id
ares1999 2:c7f2e7d8b305 10 //wait_ms(3000);
ares1999 2:c7f2e7d8b305 11 positionControl(AR_HAUT, 750, PLAYTIME, GLED_ON, SERIAL_BAS_DROITE);
ares1999 2:c7f2e7d8b305 12 positionControl_Mul_ensemble(AR_BASE, 1000, PLAYTIME, GLED_ON, AR_MILIEU, 160, GLED_ON, SERIAL_BAS_DROITE);
ares1999 2:c7f2e7d8b305 13 wait_ms(TEMPO_LONGUE);
ares1999 2:c7f2e7d8b305 14 positionControl(AR_HAUT, 650, PLAYTIME, GLED_ON, SERIAL_BAS_DROITE);
ares1999 2:c7f2e7d8b305 15 positionControl_Mul_ensemble(AR_BASE, 500, PLAYTIME, GLED_ON, AR_MILIEU, 600, GLED_ON, SERIAL_BAS_DROITE);
ares1999 2:c7f2e7d8b305 16 wait_ms(TEMPO_LONGUE);
ares1999 2:c7f2e7d8b305 17 }
ares1999 2:c7f2e7d8b305 18
ares1999 2:c7f2e7d8b305 19 void fct_prise_avant(char serial_select)
ares1999 2:c7f2e7d8b305 20 {
ares1999 2:c7f2e7d8b305 21 //Rangement
ares1999 2:c7f2e7d8b305 22 positionControl_Mul_ensemble(AV_BASE, 1000, PLAYTIME, RLED_ON, AV_MILIEU, 160, RLED_ON, serial_select);
ares1999 2:c7f2e7d8b305 23 positionControl(AV_HAUT, 750, PLAYTIME, RLED_ON, serial_select);
ares1999 2:c7f2e7d8b305 24 wait_ms(2000);
ares1999 2:c7f2e7d8b305 25 //Pré Prise
ares1999 2:c7f2e7d8b305 26 positionControl(AV_HAUT, 650, PLAYTIME, GLED_ON, serial_select);
ares1999 2:c7f2e7d8b305 27 positionControl_Mul_ensemble(AV_BASE, 500, PLAYTIME, GLED_ON, AV_MILIEU, 600, GLED_ON, serial_select);
ares1999 2:c7f2e7d8b305 28 wait_ms(TEMPO_LONGUE);
ares1999 2:c7f2e7d8b305 29 //Prise
ares1999 2:c7f2e7d8b305 30 positionControl(AV_HAUT, 685, PLAYTIME, GLED_ON, serial_select);
ares1999 2:c7f2e7d8b305 31 positionControl_Mul_ensemble(AV_BASE, 445, PLAYTIME, GLED_ON, AV_MILIEU, 590, GLED_ON, serial_select);
ares1999 2:c7f2e7d8b305 32 wait_ms(TEMPO_LONGUE);
ares1999 2:c7f2e7d8b305 33 //Rangement echantillon
ares1999 2:c7f2e7d8b305 34 positionControl_Mul_ensemble(AV_BASE, 1000, PLAYTIME, BLED_ON, AV_MILIEU, 160, BLED_ON, serial_select);
ares1999 2:c7f2e7d8b305 35 positionControl(AV_HAUT, 510, PLAYTIME, BLED_ON, serial_select);
ares1999 2:c7f2e7d8b305 36 wait_ms(3000);
ares1999 2:c7f2e7d8b305 37 }
ares1999 2:c7f2e7d8b305 38
ares1999 2:c7f2e7d8b305 39 void fct_prise_arriere(char serial_select)
ares1999 2:c7f2e7d8b305 40 {
ares1999 2:c7f2e7d8b305 41 //Rangement
ares1999 2:c7f2e7d8b305 42 positionControl_Mul_ensemble(AR_BASE, 1000, PLAYTIME, RLED_ON, AR_MILIEU, 160, RLED_ON, serial_select);
ares1999 2:c7f2e7d8b305 43 positionControl(AR_HAUT, 750, PLAYTIME, RLED_ON, serial_select);
ares1999 2:c7f2e7d8b305 44 wait_ms(2000);
ares1999 2:c7f2e7d8b305 45 //Pré Prise
ares1999 2:c7f2e7d8b305 46 positionControl(AR_HAUT, 650, PLAYTIME, GLED_ON, serial_select);
ares1999 2:c7f2e7d8b305 47 positionControl_Mul_ensemble(AR_BASE, 500, PLAYTIME, GLED_ON, AR_MILIEU, 600, GLED_ON, serial_select);
ares1999 2:c7f2e7d8b305 48 wait_ms(TEMPO_LONGUE);
ares1999 2:c7f2e7d8b305 49 //Prise
ares1999 2:c7f2e7d8b305 50 positionControl(AR_HAUT, 685, PLAYTIME, GLED_ON, serial_select);
ares1999 2:c7f2e7d8b305 51 positionControl_Mul_ensemble(AR_BASE, 445, PLAYTIME, GLED_ON, AR_MILIEU, 590, GLED_ON, serial_select);
ares1999 2:c7f2e7d8b305 52 wait_ms(TEMPO_LONGUE);
ares1999 2:c7f2e7d8b305 53 //Rangement echantillon
ares1999 2:c7f2e7d8b305 54 positionControl_Mul_ensemble(AR_BASE, 1000, PLAYTIME, BLED_ON, AR_MILIEU, 160, BLED_ON, serial_select);
ares1999 2:c7f2e7d8b305 55 positionControl(AR_HAUT, 510, PLAYTIME, BLED_ON, serial_select);
ares1999 2:c7f2e7d8b305 56 wait_ms(3000);
ares1999 2:c7f2e7d8b305 57 }
ares1999 2:c7f2e7d8b305 58
ares1999 2:c7f2e7d8b305 59 void fct_bras(void)
ares1999 2:c7f2e7d8b305 60 {
ares1999 2:c7f2e7d8b305 61 //Rangement bras bas
ares1999 2:c7f2e7d8b305 62 positionControl_Mul_ensemble(AV_BASE, 1000, PLAYTIME, RLED_ON, AV_MILIEU, 160, RLED_ON, SERIAL_BAS_GAUCHE);
ares1999 2:c7f2e7d8b305 63 positionControl(AV_HAUT, 750, PLAYTIME, RLED_ON, SERIAL_BAS_GAUCHE);
ares1999 2:c7f2e7d8b305 64 wait_ms(TEMPO);
ares1999 2:c7f2e7d8b305 65 //Rangement bras haut
ares1999 2:c7f2e7d8b305 66 positionControl_Mul_ensemble(AV_BASE, 955, PLAYTIME, RLED_ON, AV_MILIEU, 35, RLED_ON, SERIAL_HAUT);
ares1999 2:c7f2e7d8b305 67 positionControl(AV_HAUT, 230, PLAYTIME, RLED_ON, SERIAL_HAUT);
ares1999 2:c7f2e7d8b305 68 wait_ms(TEMPO_LONGUE);
ares1999 2:c7f2e7d8b305 69
ares1999 2:c7f2e7d8b305 70 //Prise bras bas
ares1999 2:c7f2e7d8b305 71 positionControl(AV_HAUT, 685, PLAYTIME, GLED_ON, SERIAL_BAS_GAUCHE);
ares1999 2:c7f2e7d8b305 72 positionControl_Mul_ensemble(AV_BASE, 445, PLAYTIME, GLED_ON, AV_MILIEU, 600, GLED_ON, SERIAL_BAS_GAUCHE);
ares1999 2:c7f2e7d8b305 73 wait_ms(TEMPO_LONGUE);
ares1999 2:c7f2e7d8b305 74 //Passe bras bas
ares1999 2:c7f2e7d8b305 75 positionControl_Mul_ensemble(AV_BASE, 470, 40, BLED_ON, AV_MILIEU, 800, BLED_ON, SERIAL_BAS_GAUCHE);
ares1999 2:c7f2e7d8b305 76 wait_ms(TEMPO+250);
ares1999 2:c7f2e7d8b305 77 positionControl(AV_HAUT, 250, 40, BLED_ON, SERIAL_BAS_GAUCHE);
ares1999 2:c7f2e7d8b305 78 wait_ms(TEMPO_LONGUE);
ares1999 2:c7f2e7d8b305 79
ares1999 2:c7f2e7d8b305 80 //Prise bras haut
ares1999 2:c7f2e7d8b305 81 positionControl(AV_HAUT, 630, PLAYTIME, GLED_ON, SERIAL_HAUT);
ares1999 2:c7f2e7d8b305 82 wait_ms(500);
ares1999 2:c7f2e7d8b305 83 positionControl_Mul_ensemble(AV_BASE, 800, PLAYTIME, GLED_ON, AV_MILIEU, 110, GLED_ON, SERIAL_HAUT);
ares1999 2:c7f2e7d8b305 84 wait_ms(TEMPO_LONGUE);
ares1999 2:c7f2e7d8b305 85 //Pré rangement bras haut
ares1999 2:c7f2e7d8b305 86 positionControl_Mul_ensemble(AV_BASE, 920, PLAYTIME, RLED_ON, AV_MILIEU, 70, RLED_ON, SERIAL_HAUT);
ares1999 2:c7f2e7d8b305 87 positionControl(AV_HAUT, 650, PLAYTIME, RLED_ON, SERIAL_HAUT);
ares1999 2:c7f2e7d8b305 88
ares1999 2:c7f2e7d8b305 89 //Pré rangement bras bas
ares1999 2:c7f2e7d8b305 90 positionControl_Mul_ensemble(AV_BASE, 520, PLAYTIME, RLED_ON, AV_MILIEU, 160, RLED_ON, SERIAL_BAS_GAUCHE);
ares1999 2:c7f2e7d8b305 91 positionControl(AV_HAUT, 750, PLAYTIME, RLED_ON, SERIAL_BAS_GAUCHE);
ares1999 2:c7f2e7d8b305 92 wait_ms(TEMPO_LONGUE);
ares1999 2:c7f2e7d8b305 93 //Rangement bras bas
ares1999 2:c7f2e7d8b305 94 positionControl_Mul_ensemble(AV_HAUT, 750, PLAYTIME, RLED_ON, AV_MILIEU, 160, RLED_ON, SERIAL_BAS_GAUCHE);
ares1999 2:c7f2e7d8b305 95 positionControl(AV_BASE, 1000, PLAYTIME, RLED_ON, SERIAL_BAS_GAUCHE);
ares1999 2:c7f2e7d8b305 96 wait_ms(TEMPO);
ares1999 2:c7f2e7d8b305 97 }