Diff: ident_crac.h

Revision:

0:d9f0c325012f

Child:

1:97e8acdc88ae

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ident_crac.h	Tue Mar 08 16:03:13 2022 +0000
@@ -0,0 +1,50 @@
+#ifndef CRAC_IDENTH
+#define CRAC_IDENTH
+
+#define SIZE_FIFO           50
+//Constantes de temps
+#define PLAYTIME            20 //Vitesse de mouvement
+#define TEMPO               50
+#define TEMPO_LONGUE        1000
+//Serial carte moteurs
+#define SERIAL_BAS_DROITE   1
+#define SERIAL_BAS_MILIEU   2
+#define SERIAL_BAS_GAUCHE   3
+#define SERIAL_SPECIAL      4 
+#define SERIAL_HAUT         5
+
+
+/* Correspondance serial --> RX-TX sur la carte
+serial1 : RX1-TX1
+serial2 : RX5-TX5
+serial3 : RX3-TX3
+serial4 : RX6-TX6
+serial5 : RX4-TX4*/
+
+#define SERIAL_CAN1_ID      0x1
+#define SERIAL_CAN2_ID      0x2
+#define SERIAL_CAN3_ID      0x3
+#define SERIAL_CAN4_ID      0x4
+#define SERIAL_CAN5_ID      0x5
+
+//ID servo bras avant
+#define AV_BASE          1
+#define AV_MILIEU        2
+#define AV_HAUT          3
+//ID servo bras arriere
+#define AR_BASE          4
+#define AR_MILIEU        5
+#define AR_HAUT          6
+//ID servo bras spéciaux
+#define SPE_BASE         1
+#define SPE_HAUT         2
+#define CN_GAUCHE        4
+#define CN_DROITE        5
+
+#define TORQUE_ACT       0x200
+#define TORQUE_DESACT    0x201
+#define BRAS_PRISE       0x010
+#define TORQUE_1         0x202
+
+
+#endif
\ No newline at end of file