carte esclave Petit Robot
Dependencies: mbed Herkulex_Library_2019 actions_Gr ident_crac actions_Pr
Diff: main.cpp
- Revision:
- 27:d9c3af6b14f6
- Parent:
- 23:93a427b242ce
--- a/main.cpp Wed May 22 20:07:49 2019 +0000 +++ b/main.cpp Wed May 22 21:29:48 2019 +0000 @@ -46,15 +46,15 @@ servo_interrupt_en(); //permettre les interuptions wait(1);//attente servo boot - - + + #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); @@ -166,7 +166,7 @@ can.write(msgTx); SendAck(ACKNOWLEDGE_TELEMETRE,RECEPTION_RECALAGE); break; - + case PRESENTOIR_AVANT: fpresentoir_avant=1; break; @@ -213,7 +213,7 @@ //------------------------------------------------------------------------------------------------------------------------------------------- - + #ifdef ROBOT_SMALL //-------------------------------------------------------------------------Actions petit robot---------------------------------------------- @@ -274,6 +274,19 @@ SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION); break; + case ACCELERATEUR_INSERTION_AVANT_GAUCHE: + SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION); + accelerateur_insertion_avant_gauche(); + SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION); + + break; + + case ACCELERATEUR_INSERTION_ARRIERE_GAUCHE: + SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION); + accelerateur_insertion_arriere_gauche(); + SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION); + break; + #endif