CRAC Team / ident_crac1

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Diff: ident_crac.h

Revision:
2:df3c600db53b
Parent:
1:97e8acdc88ae
diff -r 97e8acdc88ae -r df3c600db53b ident_crac.h
--- a/ident_crac.h	Mon Mar 28 12:44:28 2022 +0000
+++ b/ident_crac.h	Tue Apr 26 14:06:50 2022 +0000
@@ -3,16 +3,15 @@
 
 #define SIZE_FIFO           50
 //Constantes de temps
-#define PLAYTIME            20 //Vitesse de mouvement
+#define PLAYTIME            50 //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
-
+//Serial carte interface
+#define SERIAL_DROITE   1
+#define SERIAL_MILIEU   2
+#define SERIAL_GAUCHE   3
+#define SERIAL_SPECIAL  4 
+#define SERIAL_        5
 
 /* Correspondance serial --> RX-TX sur la carte
 serial1 : RX1-TX1
@@ -21,20 +20,22 @@
 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 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_BASE         1
 #define SPE_HAUT         2
@@ -42,11 +43,15 @@
 #define CN_GAUCHE        4
 #define CN_DROITE        5
 
+
+//Commande CAN pour différentes actions
+//torque.cpp
 #define TORQUE_ACT       0x001
 #define TORQUE_DESACT    0x002
-
-#define BRAS_PRISE       0x010
-#define PRISE_COMPLETE   0x011
+//actions.cpp
+#define PRISE_ARRIERE    0x010
+#define PRISE_AVANT      0x011
+#define PRISE_COMPLETE   0x012
 
 #define CN_OUVERTURE     0x020
 #define CN_FERMETURE     0x021
@@ -54,6 +59,8 @@
 //Pompe
 #define VENT_AT 0x266
 #define VENT_RE 0x267
+//
+
 
 #define TEST_VENT_1_ON 0x268
 #define TEST_VENT_1_OFF 0x269