CRAC Team / Mbed 2 deprecated carte_esclave_PETIT_ROBOT_2019

carte esclave Petit Robot

Dependencies:   mbed Herkulex_Library_2019 actions_Gr ident_crac actions_Pr

Diff: main.cpp

Revision:
46:85208ab1fa12
Parent:
45:3cb347342a0d
--- a/main.cpp	Thu May 30 04:05:18 2019 +0000
+++ b/main.cpp	Fri May 31 21:03:45 2019 +0000
@@ -281,7 +281,7 @@
 
             case GOLDENIUM_ARRIERE:
                 fgoldenium_arriere=1;
-                 x=msgRxBuffer[FIFO_lecture].data[0]|((unsigned short)(msgRxBuffer[FIFO_lecture].data[1])<<8);
+                x=msgRxBuffer[FIFO_lecture].data[0]|((unsigned short)(msgRxBuffer[FIFO_lecture].data[1])<<8);
                 y=msgRxBuffer[FIFO_lecture].data[2]|((unsigned short)(msgRxBuffer[FIFO_lecture].data[3])<<8);
                 break;
 
@@ -323,7 +323,8 @@
             case VENTOUSE_AR_CENTRE_BALANCE:
                 SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION);
                 goldenium_arriere();
-                positionControl(AR_poigne_D, 200,1,BLED_ON,3);//actionneur
+                positionControl(AR_poigne_D, 200,1,BLED_ON,3);//actionneur rentre ventouse pour pas s'eclater sur la balance
+                positionControl(AR_poigne_G, 780,1,BLED_ON,1);//actionneur rentre ventouse pour pas s'eclater sur la balance
                 verification();
                 SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION);
                 break;