CRAC Team / Strategie_13h30

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Show/hide line numbers Config_small.h Source File

Config_small.h

00001 #ifndef CRAC_CONFIG_SMALL
00002 #define CRAC_CONFIG_SMALL
00003 /**
00004 Fichier de configuration des action specifique au petit robot
00005 **/
00006 #define AX12_ID_BRAS_BASE_DROIT           17
00007 #define AX12_ID_BRAS_RELACHEUR_DROIT      16
00008 #define AX12_ID_BRAS_BASE_GAUCHE           1
00009 #define AX12_ID_BRAS_RELACHEUR_GAUCHE      2
00010 #define AX12_ID_PALET_DROIT                4
00011 #define AX12_ID_PALET_GAUCHE               18
00012 
00013 #define AX12_ANGLE_BRAS_BASE_DROIT_REPLIER   60
00014 #define AX12_ANGLE_BRAS_BASE_DROIT_MOITER    105
00015 #define AX12_ANGLE_BRAS_BASE_DROIT_RELACHER  120
00016 #define AX12_ANGLE_BRAS_BASE_DROIT_OUVERT    150
00017 
00018 #define AX12_ANGLE_BRAS_BASE_GAUCHE_REPLIER  187
00019 #define AX12_ANGLE_BRAS_BASE_GAUCHE_MOITER   145
00020 #define AX12_ANGLE_BRAS_BASE_GAUCHE_RELACHER 130
00021 #define AX12_ANGLE_BRAS_BASE_GAUCHE_OUVERT   100
00022 
00023 #define AX12_ANGLE_BRAS_RELACHEUR_DROIT_REPLIER 202
00024 #define AX12_ANGLE_BRAS_RELACHEUR_DROIT_OUVERT  240
00025 
00026 #define AX12_ANGLE_BRAS_RELACHEUR_GAUCHE_REPLIER 150
00027 #define AX12_ANGLE_BRAS_RELACHEUR_GAUCHE_OUVERT  110
00028 
00029 #define AX12_ANGLE_PALET_DROIT_FERMER  147
00030 #define AX12_ANGLE_PALET_DROIT_ROCHET  55
00031 #define AX12_ANGLE_PALET_DROIT_OUVERT  40
00032 
00033 #define AX12_ANGLE_PALET_GAUCHE_FERMER  157 
00034 #define AX12_ANGLE_PALET_GAUCHE_ROCHET  247
00035 #define AX12_ANGLE_PALET_GAUCHE_OUVERT  265
00036 
00037 #define AX12_SPEED_BRAS_BASE      0x096
00038 #define AX12_SPEED_BRAS_RELACHEUR 0x200
00039 #define AX12_SPEED_PALET          0x200
00040 
00041 #define XL320_ID_PINCE_DROITE           5
00042 #define XL320_ID_PINCE_GAUCHE           4
00043 
00044 #define XL320_ANGLE_PINCE_DROITE_FERMER     70
00045 #define XL320_ANGLE_PINCE_DROITE_SECURISE   300
00046 #define XL320_ANGLE_PINCE_DROITE_OUVERTE    400
00047 
00048 #define XL320_ANGLE_PINCE_GAUCHE_FERMER     650
00049 #define XL320_ANGLE_PINCE_GAUCHE_SECURISE   400
00050 #define XL320_ANGLE_PINCE_GAUCHE_OUVERTE    350
00051 
00052 
00053 #endif
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