CRAC Team / ident_crac1

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ident_crac.h@2:df3c600db53b, 2022-04-26 (annotated)

Committer:
ares1999
Date:
Tue Apr 26 14:06:50 2022 +0000
Revision:
2:df3c600db53b
Parent:
1:97e8acdc88ae 
mesure position servo 4, 5, 6 sur le serial 2

Who changed what in which revision?

UserRevisionLine numberNew 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 2:df3c600db53b 6 #define PLAYTIME 50 //Vitesse de mouvement
ares1999 0:d9f0c325012f 7 #define TEMPO 50
ares1999 0:d9f0c325012f 8 #define TEMPO_LONGUE 1000
ares1999 2:df3c600db53b 9 //Serial carte interface
ares1999 2:df3c600db53b 10 #define SERIAL_DROITE 1
ares1999 2:df3c600db53b 11 #define SERIAL_MILIEU 2
ares1999 2:df3c600db53b 12 #define SERIAL_GAUCHE 3
ares1999 2:df3c600db53b 13 #define SERIAL_SPECIAL 4
ares1999 2:df3c600db53b 14 #define SERIAL_ 5
ares1999 0:d9f0c325012f 15
ares1999 0:d9f0c325012f 16 /* Correspondance serial --> RX-TX sur la carte
ares1999 0:d9f0c325012f 17 serial1 : RX1-TX1
ares1999 0:d9f0c325012f 18 serial2 : RX5-TX5
ares1999 0:d9f0c325012f 19 serial3 : RX3-TX3
ares1999 0:d9f0c325012f 20 serial4 : RX6-TX6
ares1999 0:d9f0c325012f 21 serial5 : RX4-TX4*/
ares1999 0:d9f0c325012f 22
ares1999 2:df3c600db53b 23 //ID servo bras bas avant (BAV)
ares1999 2:df3c600db53b 24 #define BAV_BASE 1
ares1999 2:df3c600db53b 25 #define BAV_MILIEU 2
ares1999 2:df3c600db53b 26 #define BAV_HAUT 3
ares1999 2:df3c600db53b 27 //ID servo bras bas arriere (BAR)
ares1999 2:df3c600db53b 28 #define BAR_BASE 4
ares1999 2:df3c600db53b 29 #define BAR_MILIEU 5
ares1999 2:df3c600db53b 30 #define BAR_HAUT 6
ares1999 2:df3c600db53b 31 //ID servo bras haut avant (HAV)
ares1999 2:df3c600db53b 32 #define HAV_BASE 7
ares1999 2:df3c600db53b 33 #define HAV_MILIEU 8
ares1999 2:df3c600db53b 34 #define HAV_HAUT 9
ares1999 2:df3c600db53b 35 //ID servo bras haut arriere (HAR)
ares1999 2:df3c600db53b 36 #define HAR_BASE 10
ares1999 2:df3c600db53b 37 #define HAR_MILIEU 11
ares1999 2:df3c600db53b 38 #define HAR_HAUT 12
ares1999 0:d9f0c325012f 39 //ID servo bras spéciaux
ares1999 0:d9f0c325012f 40 #define SPE_BASE 1
ares1999 0:d9f0c325012f 41 #define SPE_HAUT 2
ares1999 1:97e8acdc88ae 42
ares1999 0:d9f0c325012f 43 #define CN_GAUCHE 4
ares1999 0:d9f0c325012f 44 #define CN_DROITE 5
ares1999 0:d9f0c325012f 45
ares1999 2:df3c600db53b 46
ares1999 2:df3c600db53b 47 //Commande CAN pour différentes actions
ares1999 2:df3c600db53b 48 //torque.cpp
ares1999 1:97e8acdc88ae 49 #define TORQUE_ACT 0x001
ares1999 1:97e8acdc88ae 50 #define TORQUE_DESACT 0x002
ares1999 2:df3c600db53b 51 //actions.cpp
ares1999 2:df3c600db53b 52 #define PRISE_ARRIERE 0x010
ares1999 2:df3c600db53b 53 #define PRISE_AVANT 0x011
ares1999 2:df3c600db53b 54 #define PRISE_COMPLETE 0x012
ares1999 1:97e8acdc88ae 55
ares1999 1:97e8acdc88ae 56 #define CN_OUVERTURE 0x020
ares1999 1:97e8acdc88ae 57 #define CN_FERMETURE 0x021
ares1999 0:d9f0c325012f 58
ares1999 1:97e8acdc88ae 59 //Pompe
ares1999 1:97e8acdc88ae 60 #define VENT_AT 0x266
ares1999 1:97e8acdc88ae 61 #define VENT_RE 0x267
ares1999 2:df3c600db53b 62 //
ares1999 2:df3c600db53b 63
ares1999 1:97e8acdc88ae 64
ares1999 1:97e8acdc88ae 65 #define TEST_VENT_1_ON 0x268
ares1999 1:97e8acdc88ae 66 #define TEST_VENT_1_OFF 0x269
ares1999 1:97e8acdc88ae 67 #define VENT_ETAT 0x27A
ares1999 0:d9f0c325012f 68
ares1999 0:d9f0c325012f 69 #endif