librairie actions gros robot carte esclave
Dependents: carte_esclave201_petit_rob carte_esclave2019 carte_esclave_PETIT_ROBOT_2019
actions_Gr.h
- Committer:
- marwanesaich
- Date:
- 2019-05-31
- Revision:
- 19:2281a0ef54e4
- Parent:
- 18:2082875295df
File content as of revision 19:2281a0ef54e4:
#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 rateau_D 7 #define rateau_G 6 #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 rateau(int etat); 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