carte esclave petit robot
Dependencies: mbed Herkulex_Library_2019 actions_Gr ident_crac actions_Pr
Diff: main.cpp
- Revision:
- 41:a71d06f292ac
- Parent:
- 39:124575240d09
- Child:
- 42:a7300d563596
diff -r 124575240d09 -r a71d06f292ac main.cpp --- a/main.cpp Thu May 23 18:42:51 2019 +0000 +++ b/main.cpp Fri May 24 19:36:51 2019 +0000 @@ -52,11 +52,9 @@ #ifdef ROBOT_BIG pc.printf("\nGros robot\n\n"); - //clear(doigt,2); - //setTorque(doigt, TORQUE_ON,2); deverouillage_torque(); positionControl(doigt,384,100,BLED_ON,2); - wait(1.0); + wait(0.5); #endif gabarit_robot(); @@ -99,6 +97,8 @@ fifo_couleur(); ascenseur(); + convoyeur_gauche(); + convoyeur_droit(); #endif @@ -197,6 +197,10 @@ case HACHEUR_RELEASE_ATOM_ACK : status_pompe &= ~(0x01 << msgRxBuffer[FIFO_lecture].data[0]); break; + + case HACHEUR_ETAT_CONTACTS : + status_contact = msgRxBuffer[FIFO_lecture].data[0]; + break; //-------------------------------------------------------------------------------------------------------------------------------------------