CRAC Team / Mbed 2 deprecated PHARE2021

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

Dependencies:   mbed bloc_8_pompe2 Herkulex_library_2022 ident_crac1 bloc_pompe2

Gestion_Torque/torque.cpp

Committer:
ares1999
Date:
2022-04-26
Revision:
3:77e937c315f1
Parent:
2:c7f2e7d8b305

File content as of revision 3:77e937c315f1:

#include "torque.h"

void activer_torque(void)  //Active le couple sur de tous les servomoteurs sur toutes les liaisons séries
{
    for(int i=1;i<=12;i++)
    {
    setTorque(i,TORQUE_ON,1);
    setTorque(i,TORQUE_ON,2);
    setTorque(i,TORQUE_ON,3);
    setTorque(i,TORQUE_ON,4);
    setTorque(i,TORQUE_ON,5);
    }
}

void desactiver_torque(void) //Désactive le couple de tous les servomoteurs sur toutes les liaisons séries
{
    for(int i=1;i<=12;i++)
    {
    setTorque(i,TORQUE_FREE,1);
    setTorque(i,TORQUE_FREE,2);
    setTorque(i,TORQUE_FREE,3);
    setTorque(i,TORQUE_FREE,4);
    setTorque(i,TORQUE_FREE,5);
    }
}