PSL_2021 / servomotor_MX12_Lorenzo

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Dependents:   PSL_ROBOT_lorenzo robot_lorenzo recepteur_mbed_os_6

Diff: MX12.cpp

Revision:
30:4e7cf52ac2dd
Parent:
29:0484cbad0770
Child:
31:e48d21e28023
Child:
32:5f44c2239b7b
--- a/MX12.cpp	Wed Jan 12 15:38:34 2022 +0000
+++ b/MX12.cpp	Fri Feb 04 09:22:50 2022 +0000
@@ -209,6 +209,14 @@
     printf("\n");
 }
 
+char MX12::ReadSerial()
+{
+    char data;
+    for(int i = 0; i < _status_pck.n_byte; i++) {
+    }
+    return data;
+}
+
 MX12::Status MX12::GetStatus()
 {
     // Return the corresponding status code
@@ -401,14 +409,14 @@
     W2=0;
     W3=0;
     a1 = 4.74 ;
-    a2 = -5.8;
-    a3 = 3.68;
-    x1 = -0.0032;
-    x2 = 0.0616;
-    x3 = -0.0645;
-    y1 = 0.072;
-    y2 = -0.0356;
-    y3 = -0.0376;
+    a2 = 0.5;
+    a3 = 2.64;
+    x1 = -0.0024;
+    x2 = 0.0625;
+    x3 = -0.0643;
+    y1 = -0.073;
+    y2 = 0.0361;
+    y3 = 0.037;
     //Vtm_smax=0.8; //sert pour calculer valeurs -999->999
     //Vnm_smax=0.9;
     //Wcrd_smax=2.9;
@@ -435,7 +443,10 @@
 
 }
 
+void MX12::cmd_moteur_rampe_unitaire(int id_moteur, float w_moteur, int step, float time)
+{
 
+}
 
 void MX12::eteindre_moteurs()
 {