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ident_crac1
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ident_crac.h@0:d9f0c325012f, 2022-03-08 (annotated)
- Committer:
- ares1999
- Date:
- Tue Mar 08 16:03:13 2022 +0000
- Revision:
- 0:d9f0c325012f
- Child:
- 1:97e8acdc88ae
t
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| ares1999 | 0:d9f0c325012f | 1 | #ifndef CRAC_IDENTH |
| ares1999 | 0:d9f0c325012f | 2 | #define CRAC_IDENTH |
| ares1999 | 0:d9f0c325012f | 3 | |
| ares1999 | 0:d9f0c325012f | 4 | #define SIZE_FIFO 50 |
| ares1999 | 0:d9f0c325012f | 5 | //Constantes de temps |
| ares1999 | 0:d9f0c325012f | 6 | #define PLAYTIME 20 //Vitesse de mouvement |
| ares1999 | 0:d9f0c325012f | 7 | #define TEMPO 50 |
| ares1999 | 0:d9f0c325012f | 8 | #define TEMPO_LONGUE 1000 |
| ares1999 | 0:d9f0c325012f | 9 | //Serial carte moteurs |
| ares1999 | 0:d9f0c325012f | 10 | #define SERIAL_BAS_DROITE 1 |
| ares1999 | 0:d9f0c325012f | 11 | #define SERIAL_BAS_MILIEU 2 |
| ares1999 | 0:d9f0c325012f | 12 | #define SERIAL_BAS_GAUCHE 3 |
| ares1999 | 0:d9f0c325012f | 13 | #define SERIAL_SPECIAL 4 |
| ares1999 | 0:d9f0c325012f | 14 | #define SERIAL_HAUT 5 |
| ares1999 | 0:d9f0c325012f | 15 | |
| ares1999 | 0:d9f0c325012f | 16 | |
| ares1999 | 0:d9f0c325012f | 17 | /* Correspondance serial --> RX-TX sur la carte |
| ares1999 | 0:d9f0c325012f | 18 | serial1 : RX1-TX1 |
| ares1999 | 0:d9f0c325012f | 19 | serial2 : RX5-TX5 |
| ares1999 | 0:d9f0c325012f | 20 | serial3 : RX3-TX3 |
| ares1999 | 0:d9f0c325012f | 21 | serial4 : RX6-TX6 |
| ares1999 | 0:d9f0c325012f | 22 | serial5 : RX4-TX4*/ |
| ares1999 | 0:d9f0c325012f | 23 | |
| ares1999 | 0:d9f0c325012f | 24 | #define SERIAL_CAN1_ID 0x1 |
| ares1999 | 0:d9f0c325012f | 25 | #define SERIAL_CAN2_ID 0x2 |
| ares1999 | 0:d9f0c325012f | 26 | #define SERIAL_CAN3_ID 0x3 |
| ares1999 | 0:d9f0c325012f | 27 | #define SERIAL_CAN4_ID 0x4 |
| ares1999 | 0:d9f0c325012f | 28 | #define SERIAL_CAN5_ID 0x5 |
| ares1999 | 0:d9f0c325012f | 29 | |
| ares1999 | 0:d9f0c325012f | 30 | //ID servo bras avant |
| ares1999 | 0:d9f0c325012f | 31 | #define AV_BASE 1 |
| ares1999 | 0:d9f0c325012f | 32 | #define AV_MILIEU 2 |
| ares1999 | 0:d9f0c325012f | 33 | #define AV_HAUT 3 |
| ares1999 | 0:d9f0c325012f | 34 | //ID servo bras arriere |
| ares1999 | 0:d9f0c325012f | 35 | #define AR_BASE 4 |
| ares1999 | 0:d9f0c325012f | 36 | #define AR_MILIEU 5 |
| ares1999 | 0:d9f0c325012f | 37 | #define AR_HAUT 6 |
| ares1999 | 0:d9f0c325012f | 38 | //ID servo bras spéciaux |
| ares1999 | 0:d9f0c325012f | 39 | #define SPE_BASE 1 |
| ares1999 | 0:d9f0c325012f | 40 | #define SPE_HAUT 2 |
| ares1999 | 0:d9f0c325012f | 41 | #define CN_GAUCHE 4 |
| ares1999 | 0:d9f0c325012f | 42 | #define CN_DROITE 5 |
| ares1999 | 0:d9f0c325012f | 43 | |
| ares1999 | 0:d9f0c325012f | 44 | #define TORQUE_ACT 0x200 |
| ares1999 | 0:d9f0c325012f | 45 | #define TORQUE_DESACT 0x201 |
| ares1999 | 0:d9f0c325012f | 46 | #define BRAS_PRISE 0x010 |
| ares1999 | 0:d9f0c325012f | 47 | #define TORQUE_1 0x202 |
| ares1999 | 0:d9f0c325012f | 48 | |
| ares1999 | 0:d9f0c325012f | 49 | |
| ares1999 | 0:d9f0c325012f | 50 | #endif |