Diff: Robots/Config_big.h

Revision:

1:7e925468f9d9

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Robots/Config_big.h	Thu Jan 30 16:48:59 2020 +0000
@@ -0,0 +1,61 @@
+#ifndef CRAC_CONFIG_BIG
+#define CRAC_CONFIG_BIG
+/**
+Fichier de configuration des action specifique au gros robot
+**/
+#define BRAS_AVANT 1
+#define BRAS_ARRIERE  2
+
+#define INV 1
+
+#define AX12_MODULE_AV 0x0C
+#define AX12_MODULE_AV_INV 0x0E
+
+#define AX12_MODULE_AR 0x20Z
+#define AX12_MODULE_AR_INV 0x22
+
+
+#define AX12_ID_PINCE_ARRIERE_HAUTE_GAUCHE  18
+#define AX12_ID_PINCE_ARRIERE_HAUTE_DROITE  15
+#define AX12_ID_PINCE_ARRIERE_BASSE_GAUCHE  13
+#define AX12_ID_PINCE_ARRIERE_BASSE_DROITE  14
+#define AX12_ID_PORTE_ARRIERE_DROITE        4
+#define AX12_ID_PORTE_ARRIERE_GAUCHE        5
+#define AX12_ID_FUNNY_ACTION                1
+#define AX12_ID_CHARIOT                     2
+#define AX12_ID_PEIGNE                      3
+#define AX12_ID_PORTE_AVANT_DROITE          11
+#define AX12_ID_PORTE_AVANT_GAUCHE          6
+#define AX12_ID_VENTOUSE                    8
+#define AX12_ID_CONE                        7
+
+#define AX12_ANGLE_FUNNY_ACTION_CLOSE       150
+#define AX12_ANGLE_FUNNY_ACTION_OPEN        95
+
+
+
+#define AX12_ANGLE_PORTE_AVANT_GAUCHE_OUVERTE   18
+#define AX12_ANGLE_PORTE_AVANT_GAUCHE_FERMER    120
+#define AX12_ANGLE_PORTE_AVANT_DROITE_OUVERTE   280
+#define AX12_ANGLE_PORTE_AVANT_DROITE_FERMER    183
+
+#define AX12_ANGLE_PEIGNE_UP 60
+#define AX12_ANGLE_PEIGNE_DOWN 120
+
+#define AX12_ANGLE_VENTOUSE_UP      150
+#define AX12_ANGLE_VENTOUSE_DOWN    130
+
+#define AX12_ANGLE_CONE_INSIDE  45
+#define AX12_ANGLE_CONE_OUTSIDE 155
+
+
+
+#define AX12_SPEED_FUNNY_ACTION             100
+#define AX12_SPEED_VENTOUSE                 100
+#define AX12_SPEED_PEIGNE                   500
+
+#define POMPES_PWM 100
+
+
+
+#endif
\ No newline at end of file