CRAC Team / Mbed 2 deprecated carte_esclave201_petit_rob

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Dependencies:   mbed Herkulex_Library_2019 actions_Gr ident_crac actions_Pr

Diff: Actionneurs/Actionneurs.cpp

Revision:
11:6c11c081c855
Parent:
7:553f3f1c2c53
Child:
12:191486ba5118
--- a/Actionneurs/Actionneurs.cpp	Sat May 18 12:07:01 2019 +0000
+++ b/Actionneurs/Actionneurs.cpp	Mon May 20 11:38:43 2019 +0000
@@ -85,19 +85,29 @@
 
 void balance_avant(void)
 {
-    uint8_t servos_av_gauche[4] = {RLED_ON, AV_EP_G, RLED_ON, AV_poigne_G};
-    uint8_t servos_av_centre[4] = {GLED_ON, AV_EP_C, GLED_ON, AV_poigne_C};
+    /*
+       uint8_t servos_av_gauche[4] = {RLED_ON, AV_EP_G, RLED_ON, AV_poigne_G};
+       uint8_t servos_av_centre[4] = {GLED_ON, AV_EP_C, GLED_ON, AV_poigne_C};
+       uint8_t servos_av_droite[4] = {BLED_ON, AV_EP_D, BLED_ON, AV_poigne_D};
+
+       uint16_t pos_av_gauche[2] = {800,780};
+       uint16_t pos_av_centre[2] = {200,220};
+       uint16_t pos_av_droite[2] = {250,270};
+
+       int speed=25;
+
+       positionControl_Mul_ensemble_complex(2,speed,servos_av_gauche, pos_av_gauche,3);
+       positionControl_Mul_ensemble_complex(2,speed,servos_av_centre, pos_av_centre,2);
+       positionControl_Mul_ensemble_complex(2,speed,servos_av_droite, pos_av_droite,1);*/
     uint8_t servos_av_droite[4] = {BLED_ON, AV_EP_D, BLED_ON, AV_poigne_D};
-
-    uint16_t pos_av_gauche[2] = {800,780};
-    uint16_t pos_av_centre[2] = {200,220};
     uint16_t pos_av_droite[2] = {250,270};
-
-    int speed=25;
+    int speed=1;
+    positionControl_Mul_ensemble_complex(2,speed,servos_av_droite, pos_av_droite,1);
+    verification();
+    
+    char pompe=AV_DROIT;
+    can.write(CANMessage(HACHEUR_RELEASE_ATOM, &pompe,1));
 
-    positionControl_Mul_ensemble_complex(2,speed,servos_av_gauche, pos_av_gauche,3);
-    positionControl_Mul_ensemble_complex(2,speed,servos_av_centre, pos_av_centre,2);
-    positionControl_Mul_ensemble_complex(2,speed,servos_av_droite, pos_av_droite,1);
 
 }
 void balance_arriere(void)
@@ -196,7 +206,7 @@
     char pompe=AV_BAS;
 
     can.write(CANMessage(HACHEUR_GET_ATOM, &pompe,1));
-    positionControl(AV_sol,512,speed,BLED_ON,4);//descend
+    positionControl(AV_sol,480,speed,BLED_ON,4);//descend
 }
 void sol_avant_remonter(void)
 {
@@ -212,7 +222,7 @@
     char pompe=AR_BAS;
 
     can.write(CANMessage(HACHEUR_GET_ATOM, &pompe,1));
-    positionControl(AR_sol,512,speed,BLED_ON,4);//descend
+    positionControl(AR_sol,535,speed,BLED_ON,4);//descend
 }
 void sol_arriere_remonter(void)
 {