CRAC Team
/
carte_esclave201_petit_rob
Important changes to repositories hosted on mbed.com
Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.
To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.
It is also possible to export all your personal repositories from the account settings page.
Dependencies: mbed Herkulex_Library_2019 actions_Gr ident_crac actions_Pr
Diff: Actionneurs/Actionneurs.cpp
- Revision:
- 0:bc74da1c502f
- Child:
- 1:568955af8c2b
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Actionneurs/Actionneurs.cpp Mon May 06 11:18:47 2019 +0000
@@ -0,0 +1,112 @@
+#include "Actionneurs.h"
+#include "ident_crac.h"
+#include "mbed.h"
+#include "fonctions_herkulex.h"
+
+
+#ifdef ROBOT_SMALL
+void init_petit_robot(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_droite[4] = {BLED_ON, AV_EP_D, BLED_ON, AV_poigne_D};
+
+ uint16_t pos_av_gauche[2] = {520,780};//epaule,poigne520,780
+ uint16_t pos_av_centre[2] = {470,350};
+ uint16_t pos_av_droite[2] = {550,270};
+
+ uint8_t servos_ar_gauche[4] = {RLED_ON, AR_EP_G, RLED_ON, AR_poigne_G};
+ uint8_t servos_ar_centre[4] = {GLED_ON, AR_EP_C, GLED_ON, AR_poigne_C};
+ uint8_t servos_ar_droite[4] = {BLED_ON, AR_EP_D, BLED_ON, AR_poigne_D};
+
+ uint16_t pos_ar_gauche[2] = {530,780};
+ uint16_t pos_ar_centre[2] = {500,250};
+ uint16_t pos_ar_droite[2] = {430,200};
+
+ int speed=100;
+
+ deverouillage_torque();
+ 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);
+
+ positionControl_Mul_ensemble_complex(2,speed,servos_ar_gauche, pos_ar_gauche,1);
+ positionControl_Mul_ensemble_complex(2,speed,servos_ar_centre, pos_ar_centre,2);
+ positionControl_Mul_ensemble_complex(2,speed,servos_ar_droite, pos_ar_droite,3);
+}
+void presentoir_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_droite[4] = {BLED_ON, AV_EP_D, BLED_ON, AV_poigne_D};
+
+ uint16_t pos_av_gauche[2] = {520,490};
+ uint16_t pos_av_centre[2] = {470,512};
+ uint16_t pos_av_droite[2] = {550,540};
+
+ int speed=50;
+
+ deverouillage_torque();
+ 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 presentoir_arriere(void)
+{
+ uint8_t servos_ar_gauche[4] = {RLED_ON, AR_EP_G, RLED_ON, AR_poigne_G};
+ uint8_t servos_ar_centre[4] = {GLED_ON, AR_EP_C, GLED_ON, AR_poigne_C};
+ uint8_t servos_ar_droite[4] = {BLED_ON, AR_EP_D, BLED_ON, AR_poigne_D};
+
+ uint16_t pos_ar_gauche[2] = {530,512};
+ uint16_t pos_ar_centre[2] = {500,430};
+ uint16_t pos_ar_droite[2] = {430,470};
+
+ int speed=50;
+
+ deverouillage_torque();
+ positionControl_Mul_ensemble_complex(2,speed,servos_ar_gauche, pos_ar_gauche,1);
+ positionControl_Mul_ensemble_complex(2,speed,servos_ar_centre, pos_ar_centre,2);
+ positionControl_Mul_ensemble_complex(2,speed,servos_ar_droite, pos_ar_droite,3);
+
+}
+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_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=50;
+
+ deverouillage_torque();
+ 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)
+{
+ uint8_t servos_ar_gauche[4] = {RLED_ON, AR_EP_G, RLED_ON, AR_poigne_G};
+ uint8_t servos_ar_centre[4] = {GLED_ON, AR_EP_C, GLED_ON, AR_poigne_C};
+ uint8_t servos_ar_droite[4] = {BLED_ON, AR_EP_D, BLED_ON, AR_poigne_D};
+
+ uint16_t pos_ar_gauche[2] = {820,780};
+ uint16_t pos_ar_centre[2] = {230,150};
+ uint16_t pos_ar_droite[2] = {150,200};
+
+ int speed=50;
+
+ deverouillage_torque();
+ positionControl_Mul_ensemble_complex(2,speed,servos_ar_gauche, pos_ar_gauche,1);
+ positionControl_Mul_ensemble_complex(2,speed,servos_ar_centre, pos_ar_centre,2);
+ positionControl_Mul_ensemble_complex(2,speed,servos_ar_droite, pos_ar_droite,3);
+
+}
+
+
+#endif
\ No newline at end of file