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Dependencies:   mbed bloc_8_pompe2 Herkulex_library_2022 ident_crac1 bloc_pompe2

Diff: Gestion_Torque/torque.cpp

Revision:
3:77e937c315f1
Parent:
2:c7f2e7d8b305
--- a/Gestion_Torque/torque.cpp	Tue Mar 08 16:03:27 2022 +0000
+++ b/Gestion_Torque/torque.cpp	Tue Apr 26 14:08:43 2022 +0000
@@ -1,8 +1,8 @@
 #include "torque.h"
 
-void activer_torque(void)  //Active le couple sur tous les servomoteurs
+void activer_torque(void)  //Active le couple sur de tous les servomoteurs sur toutes les liaisons séries
 {
-    for(int i=1;i<=6;i++)
+    for(int i=1;i<=12;i++)
     {
     setTorque(i,TORQUE_ON,1);
     setTorque(i,TORQUE_ON,2);
@@ -12,9 +12,9 @@
     }
 }
 
-void desactiver_torque(void) //Désactive le couple sur tous les servomoteurs
+void desactiver_torque(void) //Désactive le couple de tous les servomoteurs sur toutes les liaisons séries
 {
-    for(int i=1;i<=6;i++)
+    for(int i=1;i<=12;i++)
     {
     setTorque(i,TORQUE_FREE,1);
     setTorque(i,TORQUE_FREE,2);