PSL_2021
/
servomotor_MX12_Lorenzo
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Dependents: PSL_ROBOT_lorenzo robot_lorenzo recepteur_mbed_os_6
Diff: MX12.cpp
- Revision:
- 27:06850c65b9c8
- Parent:
- 26:4632a02a8ef1
- Child:
- 28:c7402e1014b4
--- a/MX12.cpp Fri Nov 26 07:16:53 2021 +0000
+++ b/MX12.cpp Fri Nov 26 08:55:31 2021 +0000
@@ -406,10 +406,25 @@
printf("%d %d %dn\r",(int)(1000*W1),(int)(1000*W2),(int)(1000*W3));
- SetSpeed(1,W1); // impose la vitesse au moteur 1
- SetSpeed(2,W2);
- SetSpeed(3,W3);
+ SetSpeed_rad_s(1,W1); // impose la vitesse au moteur 1
+ SetSpeed_rad_s(2,W2);
+ SetSpeed_rad_s(3,W3);
+
+ }
+
+void MX12::eteindre_moteurs(){
+ char data[1];
+
+ data[0] = 0;
+
- }
+ // Send instruction
+ _bus_state = SerialState::Writing;
+ rw(1, CONTROL_TABLE_TORQUE_ENABLE , 1, data);
+ _bus_state = SerialState::Writing;
+ rw(2, CONTROL_TABLE_TORQUE_ENABLE , 1, data);
+ _bus_state = SerialState::Writing;
+ rw(3, CONTROL_TABLE_TORQUE_ENABLE , 1, data);
+}