Diff: ident_crac.h

Revision:

76:717b5b4659dd

Parent:

75:4f8853f89b44

Child:

77:9f0ffc15fc5b

diff -r 4f8853f89b44 -r 717b5b4659dd ident_crac.h
--- a/ident_crac.h	Tue May 03 10:49:49 2022 +0000
+++ b/ident_crac.h	Mon May 16 16:47:47 2022 +0000
@@ -161,7 +161,7 @@
 #define ACKNOWLEDGE_IHM 0x102  // Acknowledge ecran tactile
 #define ACKNOWLEDGE_ACTIONNEURS 0x103  // Acknowledge actionneurs
 #define ACKNOWLEDGE_TELEMETRE 0x105 // Acknowledge telemetre
-#define ACKNOWLEDGE_HERKULEX 0x106 // Ack ax12
+#define ACKNOWLEDGE_HERKULEX 0x106 // Ack servo
 #define ACKNOWLEDGE_STRAT 0x10A  // Acknowledge pompes
 #define ACKNOWLEDGE_CAMERA 0x108 //Acknowledge couleur caméra
  
@@ -265,13 +265,53 @@
 #define TEST_VENT_1_OFF 0x269
 #define VENT_ETAT 0x27A
 //-----------------------------------define bras/ventouse 2022 (valeur)--------------------------//
-#define AV_DROIT    0
-#define AV_CENTRE   1
-#define AV_GAUCHE   2
-#define PLAYTIME 40 
-#define AR_GAUCHE   3
-#define AR_CENTRE   4
-#define AR_DROIT    5
+//Constantes de temps
+#define PLAYTIME            30 //Vitesse de mouvement
+#define TEMPO               50
+#define TEMPO_LONGUE        450
+#define TEMPO_POMPE         800
+//Serial carte interface
+#define SERIAL_GAUCHE   1 //bras 0 et 5
+#define SERIAL_MILIEU   3 //bras 1 et 4
+#define SERIAL_DROITE   4 //bras 2 et 3
+#define SERIAL_SPECIAL  5 //bras mesure et chasse neige
+//1 serial est cassé aléatoirement sur chaque carte
+
+/* Correspondance serial --> RX-TX sur la carte
+serial1 : RX1-TX1
+serial2 : RX5-TX5
+serial3 : RX3-TX3
+serial4 : RX6-TX6
+serial5 : RX4-TX4*/
+
+
+//ID servo bras Bas Avant (BAV)
+#define BAV_BASE          1
+#define BAV_MILIEU        2
+#define BAV_HAUT          3
+//ID servo bras Bas Arriere (BAR)
+#define BAR_BASE          4
+#define BAR_MILIEU        5
+#define BAR_HAUT          6
+//ID servo bras Haut Avant (HAV)
+#define HAV_BASE          7
+#define HAV_MILIEU        8
+#define HAV_HAUT          9
+//ID servo bras Haut Arriere (HAR)
+#define HAR_BASE          10
+#define HAR_MILIEU        11
+#define HAR_HAUT          12
+
+//ID servo bras spéciaux
+#define SPE_GAUCHE_BASE         101
+#define SPE_GAUCHE_HAUT         102
+#define SPE_DROITE_BASE         103
+#define SPE_DROITE_HAUT         104
+
+#define CN_GAUCHE_AV        5
+#define CN_DROITE_AV        6
+#define CN_GAUCHE_AR        7
+#define CN_DROITE_AR        8
 
 #define BF_RANGER 0x156
 #define BF_PRETEST 0x154
@@ -279,8 +319,24 @@
 #define BF_COLOR 0x703
 #define BF_POS   0x704
 #define BF_TEST  0x705
-#define ID_HAUT 104
-#define ID_MILLIEU 103
+#define ID_HAUT     104
+#define ID_MILLIEU  103
+
+#define CHASSE_NEIGE        0x170
+
+#define PRISE_BAS           0x171
+#define PASSE               0x172
+#define RELACHE_BAS         0x173
+#define POSE_HAUT           0x174
+
+#define PRISE_BORDURE       0x175 //
+#define POSE_BORDURE        0x176 //A FAIRE
+#define PRISE_DISTRIBUTEUR  0x177 //
+
+#define RANGEMENT           0x178
+#define GESTION_TORQUE      0x179
+
+
 //-----------------------------------define actions manche à air et pavillon---------------------------//
 #define AUTOMATE_MANCHE_HAUT 0x262
 #define AUTOMATE_MANCHE_MOY 0x263