Diff: actions_Gr.cpp

Revision:

19:2281a0ef54e4

Parent:

18:2082875295df

Child:

20:109dbdd0230b

Child:

22:a0af2f50ff1d

--- a/actions_Gr.cpp	Fri May 31 05:39:55 2019 +0000
+++ b/actions_Gr.cpp	Fri May 31 18:55:17 2019 +0000
@@ -57,6 +57,24 @@
 
 Timer timeout;
 
+void rateau(int etat){
+    
+    uint8_t servos_rateau_on[4] = {GLED_ON, rateau_D,GLED_ON, rateau_G};
+    uint16_t pos_rateau_on[2] = {280,774};
+    
+    uint8_t servos_rateau_off[4] = {GLED_ON, rateau_D, GLED_ON, rateau_G};
+    uint16_t pos_rateau_off[2] = {512,512};
+    
+    
+    if( etat == 1){
+        positionControl_Mul_ensemble_complex(2,100,servos_rateau_on,pos_rateau_on,3);
+    }
+    else{
+       positionControl_Mul_ensemble_complex(2,100,servos_rateau_off,pos_rateau_off,3);    
+    }
+
+        
+}
 void roue(int allume)
 {
     if(cote)
@@ -242,7 +260,13 @@
                 SendCharCan(NB_PALETS_VERTS, nbPaletsVerts);    
                 nbPaletsVerts =0;
                 cpt_vider = 0;
-               roue(0);
+                roue(0);
+                uint8_t servos_roulette_gauche[2] = {GLED_ON, roue_G};
+                uint16_t pos_roulette_gauche[1] = {512};
+                positionControl_Mul_ensemble_complex(1,100,servos_roulette_gauche,pos_roulette_gauche,1);
+    
+    
+
                 //pc.printf("INIT\n");   
             }
             break;
@@ -662,7 +686,10 @@
                 SendCharCan(NB_PALETS_VERTS, nbPaletsVerts);    
                 nbPaletsVerts =0;
                 cpt_vider = 0;
-               roue(0);
+                roue(0);
+                uint8_t servos_roulette_droit[2] = {GLED_ON, roue_D};
+                uint16_t pos_roulette_droit[1] = {512};
+                positionControl_Mul_ensemble_complex(1,100,servos_roulette_droit,pos_roulette_droit,3);
                 //pc.printf("INIT\n");   
             }
             break;
@@ -706,7 +733,9 @@
     
     uint8_t servos_roulette_droit[2] = {GLED_ON, roue_D};
     uint16_t pos_roulette_droit[1] = {512};
-    
+      
+        
+   
     PWM_roue_Gauche.period(0.00005);
     PWM_roue_Droite.period(0.00005);
     
@@ -716,6 +745,8 @@
     positionControl_Mul_ensemble_complex(2,speed,servos_av_centre, pos_av_centre,2);
     positionControl_Mul_ensemble_complex(1,speed,servos_roulette_droit,pos_roulette_droit,3);
     positionControl_Mul_ensemble_complex(1,speed,servos_roulette_gauche,pos_roulette_gauche,1);
+
+    rateau(0);
     
     SendRawId(HACHEUR_ETAT_CONTACTS);