Config_big.h

00001 #ifndef CRAC_CONFIG_BIG
00002 #define CRAC_CONFIG_BIG
00003 /**
00004 Fichier de configuration des action specifique au gros robot
00005 **/
00006 #define BRAS_AVANT 1
00007 #define BRAS_ARRIERE  2
00008 
00009 #define INV 1
00010 
00011 #define AX12_MODULE_AV 0x0C
00012 #define AX12_MODULE_AV_INV 0x0E
00013 
00014 #define AX12_MODULE_AR 0x20Z
00015 #define AX12_MODULE_AR_INV 0x22
00016 
00017 
00018 #define AX12_ID_PINCE_ARRIERE_HAUTE_GAUCHE  18
00019 #define AX12_ID_PINCE_ARRIERE_HAUTE_DROITE  15
00020 #define AX12_ID_PINCE_ARRIERE_BASSE_GAUCHE  13
00021 #define AX12_ID_PINCE_ARRIERE_BASSE_DROITE  14
00022 #define AX12_ID_PORTE_ARRIERE_DROITE        4
00023 #define AX12_ID_PORTE_ARRIERE_GAUCHE        5
00024 #define AX12_ID_FUNNY_ACTION                1
00025 #define AX12_ID_CHARIOT                     2
00026 #define AX12_ID_PEIGNE                      3
00027 #define AX12_ID_PORTE_AVANT_DROITE          11
00028 #define AX12_ID_PORTE_AVANT_GAUCHE          6
00029 #define AX12_ID_VENTOUSE                    8
00030 #define AX12_ID_CONE                        7
00031 
00032 #define AX12_ANGLE_FUNNY_ACTION_CLOSE       150
00033 #define AX12_ANGLE_FUNNY_ACTION_OPEN        95
00034 
00035 
00036 
00037 #define AX12_ANGLE_PORTE_AVANT_GAUCHE_OUVERTE   18
00038 #define AX12_ANGLE_PORTE_AVANT_GAUCHE_FERMER    120
00039 #define AX12_ANGLE_PORTE_AVANT_DROITE_OUVERTE   280
00040 #define AX12_ANGLE_PORTE_AVANT_DROITE_FERMER    183
00041 
00042 #define AX12_ANGLE_PEIGNE_UP 60
00043 #define AX12_ANGLE_PEIGNE_DOWN 120
00044 
00045 #define AX12_ANGLE_VENTOUSE_UP      150
00046 #define AX12_ANGLE_VENTOUSE_DOWN    130
00047 
00048 #define AX12_ANGLE_CONE_INSIDE  45
00049 #define AX12_ANGLE_CONE_OUTSIDE 155
00050 
00051 
00052 
00053 #define AX12_SPEED_FUNNY_ACTION             100
00054 #define AX12_SPEED_VENTOUSE                 100
00055 #define AX12_SPEED_PEIGNE                   500
00056 
00057 #define POMPES_PWM 100
00058 
00059 
00060 
00061 #endif