carte esclave Petit Robot
Dependencies: mbed Herkulex_Library_2019 actions_Gr ident_crac actions_Pr
Diff: main.cpp
- Revision:
- 22:9e92a2b941ba
- Parent:
- 21:edf6d03fdb20
- Child:
- 23:93a427b242ce
--- a/main.cpp Wed May 22 11:19:27 2019 +0000 +++ b/main.cpp Wed May 22 15:46:40 2019 +0000 @@ -5,6 +5,7 @@ CAN can(PB_8,PB_9,1000000); // Rx&Tx pour le CAN +Serial pc(USBTX,USBRX); CANMessage msgRxBuffer[SIZE_FIFO]; unsigned char FIFO_ecriture=0; //Position du fifo pour la reception CAN @@ -48,12 +49,14 @@ #ifdef ROBOT_SMALL + pc.printf("\nPetit robot\n\n"); gabarit_petit_robot(); #endif #ifdef ROBOT_BIG + pc.printf("\nGros robot\n\n"); clear(doigt,2); setTorque(doigt, TORQUE_ON,2); positionControl(doigt,384,100,BLED_ON,2); @@ -61,6 +64,7 @@ #endif + pc.printf("\nLAUNCHED"); while(1) { canProcessRx(); f_mesure();//dt35 @@ -274,7 +278,7 @@ #endif #ifdef ROBOT_BIG case ASCENSEUR: - rotation_couroies = msgRxBuffer[FIFO_lecture].data[0]; + flag_ascenseur = msgRxBuffer[FIFO_lecture].data[0]; break; case 5: