Diff: Action_bras/actions.cpp

Revision:

2:c7f2e7d8b305

Child:

3:77e937c315f1

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Action_bras/actions.cpp	Tue Mar 08 16:03:27 2022 +0000
@@ -0,0 +1,97 @@
+#include "actions.h"
+
+uint8_t servos_bras_testeur[2] = {RLED_ON, 1}; 
+uint16_t pos_testeur[1] = {400};
+
+void fct_opti(void)
+{
+    //positionControl_Mul_ensemble_complex(1, 60, servos_bras_testeur, pos_testeur, SERIAL_BAS_DROITE);
+//(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
+    //wait_ms(3000);
+    positionControl(AR_HAUT, 750, PLAYTIME, GLED_ON, SERIAL_BAS_DROITE);
+    positionControl_Mul_ensemble(AR_BASE, 1000, PLAYTIME, GLED_ON, AR_MILIEU, 160, GLED_ON, SERIAL_BAS_DROITE);
+    wait_ms(TEMPO_LONGUE);
+    positionControl(AR_HAUT, 650, PLAYTIME, GLED_ON, SERIAL_BAS_DROITE);
+    positionControl_Mul_ensemble(AR_BASE, 500, PLAYTIME, GLED_ON, AR_MILIEU, 600, GLED_ON, SERIAL_BAS_DROITE);
+    wait_ms(TEMPO_LONGUE);
+}
+
+void fct_prise_avant(char serial_select)
+{
+    //Rangement
+    positionControl_Mul_ensemble(AV_BASE, 1000, PLAYTIME, RLED_ON, AV_MILIEU, 160, RLED_ON, serial_select);
+    positionControl(AV_HAUT, 750, PLAYTIME, RLED_ON, serial_select);
+    wait_ms(2000);
+    //Pré Prise
+    positionControl(AV_HAUT, 650, PLAYTIME, GLED_ON, serial_select);
+    positionControl_Mul_ensemble(AV_BASE, 500, PLAYTIME, GLED_ON, AV_MILIEU, 600, GLED_ON, serial_select);
+    wait_ms(TEMPO_LONGUE);
+    //Prise
+    positionControl(AV_HAUT, 685, PLAYTIME, GLED_ON, serial_select);
+    positionControl_Mul_ensemble(AV_BASE, 445, PLAYTIME, GLED_ON, AV_MILIEU, 590, GLED_ON, serial_select);
+    wait_ms(TEMPO_LONGUE);
+    //Rangement echantillon
+    positionControl_Mul_ensemble(AV_BASE, 1000, PLAYTIME, BLED_ON, AV_MILIEU, 160, BLED_ON, serial_select);
+    positionControl(AV_HAUT, 510, PLAYTIME, BLED_ON, serial_select);
+    wait_ms(3000);
+}
+
+void fct_prise_arriere(char serial_select)
+{
+    //Rangement
+    positionControl_Mul_ensemble(AR_BASE, 1000, PLAYTIME, RLED_ON, AR_MILIEU, 160, RLED_ON, serial_select);
+    positionControl(AR_HAUT, 750, PLAYTIME, RLED_ON, serial_select);
+    wait_ms(2000);
+    //Pré Prise
+    positionControl(AR_HAUT, 650, PLAYTIME, GLED_ON, serial_select);
+    positionControl_Mul_ensemble(AR_BASE, 500, PLAYTIME, GLED_ON, AR_MILIEU, 600, GLED_ON, serial_select);
+    wait_ms(TEMPO_LONGUE);
+    //Prise
+    positionControl(AR_HAUT, 685, PLAYTIME, GLED_ON, serial_select);
+    positionControl_Mul_ensemble(AR_BASE, 445, PLAYTIME, GLED_ON, AR_MILIEU, 590, GLED_ON, serial_select);
+    wait_ms(TEMPO_LONGUE);
+    //Rangement echantillon
+    positionControl_Mul_ensemble(AR_BASE, 1000, PLAYTIME, BLED_ON, AR_MILIEU, 160, BLED_ON, serial_select);
+    positionControl(AR_HAUT, 510, PLAYTIME, BLED_ON, serial_select);
+    wait_ms(3000);
+}
+
+void fct_bras(void)
+{
+//Rangement bras bas
+    positionControl_Mul_ensemble(AV_BASE, 1000, PLAYTIME, RLED_ON, AV_MILIEU, 160, RLED_ON, SERIAL_BAS_GAUCHE);
+    positionControl(AV_HAUT, 750, PLAYTIME, RLED_ON, SERIAL_BAS_GAUCHE);
+    wait_ms(TEMPO);
+//Rangement bras haut
+    positionControl_Mul_ensemble(AV_BASE, 955, PLAYTIME, RLED_ON, AV_MILIEU, 35, RLED_ON, SERIAL_HAUT);
+    positionControl(AV_HAUT, 230, PLAYTIME, RLED_ON, SERIAL_HAUT);
+    wait_ms(TEMPO_LONGUE);
+    
+//Prise bras bas
+    positionControl(AV_HAUT, 685, PLAYTIME, GLED_ON, SERIAL_BAS_GAUCHE);
+    positionControl_Mul_ensemble(AV_BASE, 445, PLAYTIME, GLED_ON, AV_MILIEU, 600, GLED_ON, SERIAL_BAS_GAUCHE);
+    wait_ms(TEMPO_LONGUE);
+//Passe bras bas
+    positionControl_Mul_ensemble(AV_BASE, 470, 40, BLED_ON, AV_MILIEU, 800, BLED_ON, SERIAL_BAS_GAUCHE);
+    wait_ms(TEMPO+250);
+    positionControl(AV_HAUT, 250, 40, BLED_ON, SERIAL_BAS_GAUCHE);
+    wait_ms(TEMPO_LONGUE);
+    
+//Prise bras haut
+    positionControl(AV_HAUT, 630, PLAYTIME, GLED_ON, SERIAL_HAUT);
+    wait_ms(500);
+    positionControl_Mul_ensemble(AV_BASE, 800, PLAYTIME, GLED_ON, AV_MILIEU, 110, GLED_ON, SERIAL_HAUT);
+    wait_ms(TEMPO_LONGUE);
+//Pré rangement bras haut
+    positionControl_Mul_ensemble(AV_BASE, 920, PLAYTIME, RLED_ON, AV_MILIEU, 70, RLED_ON, SERIAL_HAUT);
+    positionControl(AV_HAUT, 650, PLAYTIME, RLED_ON, SERIAL_HAUT);
+    
+//Pré rangement bras bas
+    positionControl_Mul_ensemble(AV_BASE, 520, PLAYTIME, RLED_ON, AV_MILIEU, 160, RLED_ON, SERIAL_BAS_GAUCHE);
+    positionControl(AV_HAUT, 750, PLAYTIME, RLED_ON, SERIAL_BAS_GAUCHE);
+    wait_ms(TEMPO_LONGUE);
+//Rangement bras bas
+    positionControl_Mul_ensemble(AV_HAUT, 750, PLAYTIME, RLED_ON, AV_MILIEU, 160, RLED_ON, SERIAL_BAS_GAUCHE);
+    positionControl(AV_BASE, 1000, PLAYTIME, RLED_ON, SERIAL_BAS_GAUCHE);
+    wait_ms(TEMPO);
+}
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