action gobeur
Dependencies: ros_messages mbed Servo Manche_a_air Gobeur ros_lib_melodic
Diff: actuators.h
- Revision:
- 6:4af07c2de6ba
- Child:
- 11:9038da3b84da
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/actuators.h Thu Jul 08 14:11:48 2021 +0000 @@ -0,0 +1,35 @@ +#ifndef ACTUATORS_H +#define ACTUATORS_H + +#define NB_PROCEDURES 4 + +#define GOBEUR_TURBINE_LEFT_PIN PB_6 // PWM 2 14/3 +#define GOBEUR_SERVO_LEFT_PIN PA_9 // PWM 0 1/2 +#define GOBEUR_TURBINE_RIGHT_PIN PB_7 // PWM 3 14/2 +//#define GOBEUR_SERVO_RIGHT_PIN PA_15 // PWM 1 2/1 +#define GOBEUR_SERVO_RIGHT_PIN PB_2 // PWM 1 2/4 + +#define GOBEUR_SERVO_POS_OPEN 1 +#define GOBEUR_SERVO_POS_CLOSE 0 +#define GOBEUR_TURBINE_TH_ON 1 +#define GOBEUR_TURBINE_TH_OFF 0 + + +#define MAA_SERVO_LEFT_PIN PA_0 // PWM 4 2/1 +#define MAA_SERVO_RIGHT_PIN PA_1 // PWM 5 2/2 + + +#define MAA_SERVO_POS_OPEN 1 +#define MAA_SERVO_POS_CLOSE 0 + + +#define FLAG_SERVO_PIN PA_6 // PWM 6 3/1 +#define FLAG_SERVO_POS_OPEN 1 +#define FLAG_SERVO_POS_CLOSE 0 + + +float clock_s(); +uint64_t clock_ms(); +uint64_t clock_us(); + +#endif \ No newline at end of file