File content as of revision 18:2082875295df:

#ifndef ACTIONS_GR_H
#define ACTIONS_GR_H

#include "main.h"


#ifdef ROBOT_BIG
//-----------------------servo gros robot--------------------------------------
//serial 1
#define roue_G 4
#define stockage_G 3
//serial 2
#define doigt 2
#define AV_EP_C 10
#define AV_poigne_C 11
//serial 3
#define stockage_D 1
#define roue_D 5


#define SIZE_FIFO 50

#define VIT_ROUE 1.0


#define VITESSE_RALENTI 25
#define VITESSE_NORMAL 200

#define ACCELERATION_RALENTI 1000
#define DECELERATION_RALENTI 1000

#define ACCELERATION 4000
#define DECELERATION 3800

#define TIMEOUT_ACTION_PRESENTOIR 5000

extern char status_pompe;
extern char status_contact;

extern bool flag_ascenseur,flag_ascenseur_force_on, flag_ascenseur_force_off;

extern char fpresentoir_avant, fpresentoir_arriere;
extern char fgoldenium_avant, fgoldenium_arriere;
extern char fsol_avant,fsol_arriere;
extern char fsol_avant_relache,fsol_arriere_relache;
extern char fbalance_avant,fbalance_arriere;
extern char favant_relache,farriere_relache;
extern char faccelerateur_avant,faccelerateur_arriere;

extern int flag_vide_vert_rouge,flag_vide_bleu;


extern int nbPaletsVerts, nbPaletsBleus;

void gabarit_robot(void);

void fifo_couleur(void);
void ascenseur(void);
void oriente_doigt(int palet);
void oriente_doigt_suiv(int palet);
void convoyeur_gauche_jaune(void);
void convoyeur_droit_jaune(void);
void convoyeur_gauche_violet(void);
void convoyeur_droit_violet(void);


void presentoir_avant(void);
void automate_ventouse_presentoir_avant(void);
void automate_ventouse_relache_avant(void);

void goldenium_avant(void);
void automate_ventouse_goldenium_avant(void);
void accelerateur_avant(void);
void automate_ventouse_accelerateur_avant(void);


#endif
#endif