Guillaume Chauvon / Mbed 2 deprecated Asservissment_robot2_v16_05

l

Dependencies:   mbed Asser2

hardware.cpp@1:0d76bc4e1aea, 2019-04-17 (annotated)

Committer:
GuillaumeCH
Date:
Wed Apr 17 15:49:42 2019 +0000
Revision:
1:0d76bc4e1aea
Parent:
0:38dbe2988e77
Child:
2:3066e614372f
update

Who changed what in which revision?

UserRevisionLine numberNew contents of line
GuillaumeCH 0:38dbe2988e77 1 #define _POSIX_C_SOURCE 199309L
GuillaumeCH 0:38dbe2988e77 2 #include "mbed.h"
GuillaumeCH 0:38dbe2988e77 3 #include "reglages.h"
GuillaumeCH 0:38dbe2988e77 4 #include "hardware.h"
GuillaumeCH 0:38dbe2988e77 5 #include "DevSPI.h"
GuillaumeCH 0:38dbe2988e77 6 #include "XNucleoIHM02A1.h"
GuillaumeCH 0:38dbe2988e77 7
GuillaumeCH 0:38dbe2988e77 8 // PWM_MAX est définit dans réglage;
GuillaumeCH 0:38dbe2988e77 9 bool moteurs_arret = false;
GuillaumeCH 0:38dbe2988e77 10
GuillaumeCH 0:38dbe2988e77 11
GuillaumeCH 0:38dbe2988e77 12 XNucleoIHM02A1 *x_nucleo_ihm02a1; //Création d'une entité pour la carte de contôle des pas à pas
GuillaumeCH 0:38dbe2988e77 13 L6470_init_t init[L6470DAISYCHAINSIZE] = {
GuillaumeCH 0:38dbe2988e77 14 /* First Motor. */
GuillaumeCH 0:38dbe2988e77 15 {
GuillaumeCH 0:38dbe2988e77 16 4.08, /* Motor supply voltage in V. */
GuillaumeCH 0:38dbe2988e77 17 200, /* Min number of steps per revolution for the motor. */
GuillaumeCH 0:38dbe2988e77 18 7.5, /* Max motor phase voltage in A. */
GuillaumeCH 0:38dbe2988e77 19 7.06, /* Max motor phase voltage in V. */
GuillaumeCH 1:0d76bc4e1aea 20 0, /* Motor initial speed [step/s]. */
GuillaumeCH 0:38dbe2988e77 21 478, /* Motor acceleration [step/s^2] (comment for infinite acceleration mode). */
GuillaumeCH 0:38dbe2988e77 22 500.0, /* Motor deceleration [step/s^2] (comment for infinite deceleration mode). */
GuillaumeCH 0:38dbe2988e77 23 1500.0, /* Motor maximum speed [step/s]. */
GuillaumeCH 0:38dbe2988e77 24 0.0, /* Motor minimum speed [step/s]. */
GuillaumeCH 0:38dbe2988e77 25 602.7, /* Motor full-step speed threshold [step/s]. */
GuillaumeCH 0:38dbe2988e77 26 3.06, /* Holding kval [V]. */
GuillaumeCH 0:38dbe2988e77 27 3.06, /* Constant speed kval [V]. */
GuillaumeCH 0:38dbe2988e77 28 3.06, /* Acceleration starting kval [V]. */
GuillaumeCH 0:38dbe2988e77 29 3.06, /* Deceleration starting kval [V]. */
GuillaumeCH 0:38dbe2988e77 30 61.52, /* Intersect speed for bemf compensation curve slope changing [step/s]. */
GuillaumeCH 0:38dbe2988e77 31 392.1569e-6, /* Start slope [s/step]. */
GuillaumeCH 0:38dbe2988e77 32 643.1372e-6, /* Acceleration final slope [s/step]. */
GuillaumeCH 0:38dbe2988e77 33 643.1372e-6, /* Deceleration final slope [s/step]. */
GuillaumeCH 0:38dbe2988e77 34 0, /* Thermal compensation factor (range [0, 15]). */
GuillaumeCH 0:38dbe2988e77 35 3.06 * 1000 * 1.10, /* Ocd threshold [ma] (range [375 ma, 6000 ma]). */
GuillaumeCH 0:38dbe2988e77 36 3.06 * 1000 * 1.00, /* Stall threshold [ma] (range [31.25 ma, 4000 ma]). */
GuillaumeCH 0:38dbe2988e77 37 StepperMotor::STEP_MODE_1_128, /* Step mode selection. */
GuillaumeCH 0:38dbe2988e77 38 0xFF, /* Alarm conditions enable. */
GuillaumeCH 0:38dbe2988e77 39 0x2E88 /* Ic configuration. */
GuillaumeCH 0:38dbe2988e77 40 },
GuillaumeCH 0:38dbe2988e77 41
GuillaumeCH 0:38dbe2988e77 42 /* Second Motor. */
GuillaumeCH 0:38dbe2988e77 43 {
GuillaumeCH 0:38dbe2988e77 44 4.08, /* Motor supply voltage in V. */
GuillaumeCH 0:38dbe2988e77 45 200, /* Min number of steps per revolution for the motor. */
GuillaumeCH 0:38dbe2988e77 46 7.5, /* Max motor phase voltage in A. */
GuillaumeCH 0:38dbe2988e77 47 7.06, /* Max motor phase voltage in V. */
GuillaumeCH 1:0d76bc4e1aea 48 0, /* Motor initial speed [step/s]. */
GuillaumeCH 0:38dbe2988e77 49 500, /* Motor acceleration [step/s^2] (comment for infinite acceleration mode). */
GuillaumeCH 0:38dbe2988e77 50 500.0, /* Motor deceleration [step/s^2] (comment for infinite deceleration mode). */
GuillaumeCH 0:38dbe2988e77 51 1500.0, /* Motor maximum speed [step/s]. */
GuillaumeCH 0:38dbe2988e77 52 0.0, /* Motor minimum speed [step/s]. */
GuillaumeCH 0:38dbe2988e77 53 602.7, /* Motor full-step speed threshold [step/s]. */
GuillaumeCH 0:38dbe2988e77 54 3.06, /* Holding kval [V]. */
GuillaumeCH 0:38dbe2988e77 55 3.06, /* Constant speed kval [V]. */
GuillaumeCH 0:38dbe2988e77 56 3.06, /* Acceleration starting kval [V]. */
GuillaumeCH 0:38dbe2988e77 57 3.06, /* Deceleration starting kval [V]. */
GuillaumeCH 0:38dbe2988e77 58 61.52, /* Intersect speed for bemf compensation curve slope changing [step/s]. */
GuillaumeCH 0:38dbe2988e77 59 392.1569e-6, /* Start slope [s/step]. */
GuillaumeCH 0:38dbe2988e77 60 643.1372e-6, /* Acceleration final slope [s/step]. */
GuillaumeCH 0:38dbe2988e77 61 643.1372e-6, /* Deceleration final slope [s/step]. */
GuillaumeCH 0:38dbe2988e77 62 0, /* Thermal compensation factor (range [0, 15]). */
GuillaumeCH 0:38dbe2988e77 63 3.06 * 1000 * 1.10, /* Ocd threshold [ma] (range [375 ma, 6000 ma]). */
GuillaumeCH 0:38dbe2988e77 64 3.06 * 1000 * 1.00, /* Stall threshold [ma] (range [31.25 ma, 4000 ma]). */
GuillaumeCH 0:38dbe2988e77 65 StepperMotor::STEP_MODE_1_128, /* Step mode selection. */
GuillaumeCH 0:38dbe2988e77 66 0xFF, /* Alarm conditions enable. */
GuillaumeCH 0:38dbe2988e77 67 0x2E88 /* Ic configuration. */
GuillaumeCH 0:38dbe2988e77 68 }
GuillaumeCH 0:38dbe2988e77 69 };
GuillaumeCH 0:38dbe2988e77 70
GuillaumeCH 0:38dbe2988e77 71 L6470 **motors; //Instance des moteurs
GuillaumeCH 0:38dbe2988e77 72
GuillaumeCH 0:38dbe2988e77 73 DigitalOut led(LED2);
GuillaumeCH 0:38dbe2988e77 74 Serial pc(USBTX, USBRX); // tx, rx
GuillaumeCH 0:38dbe2988e77 75 DevSPI dev_spi(D11, D12, D3);
GuillaumeCH 0:38dbe2988e77 76
GuillaumeCH 0:38dbe2988e77 77
GuillaumeCH 0:38dbe2988e77 78
GuillaumeCH 0:38dbe2988e77 79 InterruptIn ENCBL(D5);
GuillaumeCH 0:38dbe2988e77 80 InterruptIn ENCBJ(D6);
GuillaumeCH 0:38dbe2988e77 81
GuillaumeCH 0:38dbe2988e77 82
GuillaumeCH 0:38dbe2988e77 83 /*void init_hardware()
GuillaumeCH 0:38dbe2988e77 84 {
GuillaumeCH 0:38dbe2988e77 85 pc.baud(115200); //Initialisation de l'USART pc
GuillaumeCH 0:38dbe2988e77 86
GuillaumeCH 0:38dbe2988e77 87 // Initializing Motor Control Expansion Board.
GuillaumeCH 0:38dbe2988e77 88 x_nucleo_ihm02a1 = new XNucleoIHM02A1(&init[0], &init[1], A4, A5, D4, A2, &dev_spi);
GuillaumeCH 0:38dbe2988e77 89 motors = x_nucleo_ihm02a1->get_components();
GuillaumeCH 0:38dbe2988e77 90
GuillaumeCH 0:38dbe2988e77 91
GuillaumeCH 0:38dbe2988e77 92 }*/
GuillaumeCH 0:38dbe2988e77 93
GuillaumeCH 0:38dbe2988e77 94 volatile long encoderValueB = 0; //nombre de tics sur l'encodeur B
GuillaumeCH 0:38dbe2988e77 95
GuillaumeCH 0:38dbe2988e77 96 void init_hardware()
GuillaumeCH 0:38dbe2988e77 97 {
GuillaumeCH 0:38dbe2988e77 98 pc.baud(115200); //Initialisation de l'USART pc
GuillaumeCH 0:38dbe2988e77 99
GuillaumeCH 0:38dbe2988e77 100 /* Initializing Motor Control Expansion Board. */
GuillaumeCH 0:38dbe2988e77 101 x_nucleo_ihm02a1 = new XNucleoIHM02A1(&init[0], &init[1], A4, A5, D4, A2, &dev_spi);
GuillaumeCH 0:38dbe2988e77 102 motors = x_nucleo_ihm02a1->get_components();
GuillaumeCH 0:38dbe2988e77 103
GuillaumeCH 0:38dbe2988e77 104 /*ENCAL.mode(PullUp); //Initialisation des codeuses
GuillaumeCH 0:38dbe2988e77 105 ENCAJ.mode(PullUp);*/
GuillaumeCH 0:38dbe2988e77 106 ENCBL.mode(PullUp);
GuillaumeCH 0:38dbe2988e77 107 ENCBJ.mode(PullUp);
GuillaumeCH 0:38dbe2988e77 108
GuillaumeCH 0:38dbe2988e77 109 //ENCAL.rise(&updateEncoderA);
GuillaumeCH 0:38dbe2988e77 110 //ENCAL.fall(&updateEncoderA);
GuillaumeCH 0:38dbe2988e77 111 //ENCAJ.rise(&updateEncoderA);
GuillaumeCH 0:38dbe2988e77 112 //ENCAJ.fall(&updateEncoderA);
GuillaumeCH 0:38dbe2988e77 113
GuillaumeCH 0:38dbe2988e77 114 ENCBL.rise(&updateEncoderB);
GuillaumeCH 0:38dbe2988e77 115 ENCBL.fall(&updateEncoderB);
GuillaumeCH 0:38dbe2988e77 116 ENCBJ.rise(&updateEncoderB);
GuillaumeCH 0:38dbe2988e77 117 ENCBJ.fall(&updateEncoderB);
GuillaumeCH 0:38dbe2988e77 118
GuillaumeCH 0:38dbe2988e77 119 }
GuillaumeCH 0:38dbe2988e77 120
GuillaumeCH 0:38dbe2988e77 121 void set_PWM_moteur_D(int PWM)
GuillaumeCH 0:38dbe2988e77 122 {
GuillaumeCH 0:38dbe2988e77 123 if (!moteurs_arret) {
GuillaumeCH 0:38dbe2988e77 124 if (PWM > PWM_MAX) {
GuillaumeCH 0:38dbe2988e77 125 motors[0]->prepare_run(StepperMotor::BWD, PWM_MAX); //BWD = backward , FWD = forward , la vitesse doit etre positive
GuillaumeCH 0:38dbe2988e77 126 } else if (PWM <-PWM_MAX) {
GuillaumeCH 0:38dbe2988e77 127 motors[0]->prepare_run(StepperMotor::FWD, PWM_MAX);
GuillaumeCH 0:38dbe2988e77 128 } else if (PWM > 0) {
GuillaumeCH 0:38dbe2988e77 129 motors[0]->prepare_run(StepperMotor::BWD, PWM);
GuillaumeCH 0:38dbe2988e77 130 } else if (PWM < 0) {
GuillaumeCH 0:38dbe2988e77 131 motors[0]->prepare_run(StepperMotor::FWD, -PWM);
GuillaumeCH 0:38dbe2988e77 132 } else if (PWM == 0) {
GuillaumeCH 0:38dbe2988e77 133 motors[0]->prepare_run(StepperMotor::BWD, 0);
GuillaumeCH 0:38dbe2988e77 134 }
GuillaumeCH 0:38dbe2988e77 135 } else {
GuillaumeCH 0:38dbe2988e77 136 motors[0]->prepare_hard_hiz(); //mode haute impédence pour pouvoir déplacer le robot à la main
GuillaumeCH 0:38dbe2988e77 137 }
GuillaumeCH 0:38dbe2988e77 138 x_nucleo_ihm02a1->perform_prepared_actions();
GuillaumeCH 0:38dbe2988e77 139 }
GuillaumeCH 0:38dbe2988e77 140
GuillaumeCH 0:38dbe2988e77 141 void set_PWM_moteur_G(int PWM)
GuillaumeCH 0:38dbe2988e77 142 {
GuillaumeCH 0:38dbe2988e77 143
GuillaumeCH 0:38dbe2988e77 144 if (!moteurs_arret) {
GuillaumeCH 0:38dbe2988e77 145 if (PWM > PWM_MAX) {
GuillaumeCH 0:38dbe2988e77 146 motors[1]->prepare_run(StepperMotor::FWD, PWM_MAX);
GuillaumeCH 0:38dbe2988e77 147 } else if (PWM <-PWM_MAX) {
GuillaumeCH 0:38dbe2988e77 148 motors[1]->prepare_run(StepperMotor::BWD, PWM_MAX);
GuillaumeCH 0:38dbe2988e77 149 } else if (PWM > 0) {
GuillaumeCH 0:38dbe2988e77 150 motors[1]->prepare_run(StepperMotor::FWD, PWM);
GuillaumeCH 0:38dbe2988e77 151 } else if (PWM < 0) {
GuillaumeCH 0:38dbe2988e77 152 motors[1]->prepare_run(StepperMotor::BWD, -PWM);
GuillaumeCH 0:38dbe2988e77 153 } else if (PWM == 0) {
GuillaumeCH 0:38dbe2988e77 154 motors[1]->prepare_run(StepperMotor::BWD, 0);
GuillaumeCH 0:38dbe2988e77 155 }
GuillaumeCH 0:38dbe2988e77 156 } else {
GuillaumeCH 0:38dbe2988e77 157 motors[1]->prepare_hard_hiz(); //mode haute impédence pour pouvoir déplacer le robot à la main
GuillaumeCH 0:38dbe2988e77 158 }
GuillaumeCH 0:38dbe2988e77 159 x_nucleo_ihm02a1->perform_prepared_actions();
GuillaumeCH 0:38dbe2988e77 160 }
GuillaumeCH 0:38dbe2988e77 161
GuillaumeCH 0:38dbe2988e77 162 void set_step_moteur_G(int steps)
GuillaumeCH 0:38dbe2988e77 163 {
GuillaumeCH 0:38dbe2988e77 164 if (!moteurs_arret) {
GuillaumeCH 0:38dbe2988e77 165 if (steps<0) {
GuillaumeCH 0:38dbe2988e77 166 motors[1]->prepare_move(StepperMotor::BWD, steps); //BWD = backward , BWD = backward , la vitesse doit etre positive
GuillaumeCH 0:38dbe2988e77 167 }
GuillaumeCH 0:38dbe2988e77 168 else if(steps >0){
GuillaumeCH 0:38dbe2988e77 169 motors[1]->prepare_move(StepperMotor::FWD, steps); //BWD = backward , FWD = forward , la vitesse doit etre positive
GuillaumeCH 0:38dbe2988e77 170 }
GuillaumeCH 0:38dbe2988e77 171 else {
GuillaumeCH 0:38dbe2988e77 172 motors[1]->prepare_hard_hiz(); //mode haute impédence pour pouvoir déplacer le robot à la main*/
GuillaumeCH 0:38dbe2988e77 173 }
GuillaumeCH 0:38dbe2988e77 174 }
GuillaumeCH 0:38dbe2988e77 175 x_nucleo_ihm02a1->perform_prepared_actions();
GuillaumeCH 0:38dbe2988e77 176 }
GuillaumeCH 0:38dbe2988e77 177
GuillaumeCH 0:38dbe2988e77 178 void set_step_moteur_D(int steps)
GuillaumeCH 0:38dbe2988e77 179 {
GuillaumeCH 0:38dbe2988e77 180 int steps_modulo_128 = steps/128;
GuillaumeCH 0:38dbe2988e77 181 if (!moteurs_arret) {
GuillaumeCH 0:38dbe2988e77 182 if (steps<0) {
GuillaumeCH 0:38dbe2988e77 183 motors[0]->prepare_move(StepperMotor::BWD, steps_modulo_128*128); //BWD = backward , BWD = backward , la vitesse doit etre positive
GuillaumeCH 0:38dbe2988e77 184 }
GuillaumeCH 0:38dbe2988e77 185 else if(steps >0){
GuillaumeCH 0:38dbe2988e77 186 motors[0]->prepare_move(StepperMotor::FWD, steps_modulo_128*128); //BWD = backward , FWD = forward , la vitesse doit etre positive
GuillaumeCH 0:38dbe2988e77 187 }
GuillaumeCH 0:38dbe2988e77 188 else {
GuillaumeCH 0:38dbe2988e77 189 motors[0]->prepare_hard_hiz(); //mode haute impédence pour pouvoir déplacer le robot à la main*/
GuillaumeCH 0:38dbe2988e77 190 }
GuillaumeCH 0:38dbe2988e77 191 }
GuillaumeCH 0:38dbe2988e77 192 x_nucleo_ihm02a1->perform_prepared_actions();
GuillaumeCH 0:38dbe2988e77 193 }
GuillaumeCH 0:38dbe2988e77 194 long int get_position_G(){
GuillaumeCH 0:38dbe2988e77 195 /* Getting the current position. */
GuillaumeCH 0:38dbe2988e77 196 long int position = motors[1]->get_position();
GuillaumeCH 0:38dbe2988e77 197 return position;
GuillaumeCH 0:38dbe2988e77 198 /* Printing to the console. */
GuillaumeCH 0:38dbe2988e77 199 //printf("--> Getting the current position: %d\r\n", position);
GuillaumeCH 0:38dbe2988e77 200
GuillaumeCH 0:38dbe2988e77 201 }
GuillaumeCH 0:38dbe2988e77 202 long int get_position_D(){
GuillaumeCH 0:38dbe2988e77 203 /* Getting the current position. */
GuillaumeCH 0:38dbe2988e77 204 long int position = motors[0]->get_position();
GuillaumeCH 0:38dbe2988e77 205
GuillaumeCH 0:38dbe2988e77 206 /* Printing to the console. */
GuillaumeCH 0:38dbe2988e77 207 //printf("--> Getting the current position: %d\r\n", position);
GuillaumeCH 0:38dbe2988e77 208 return position;
GuillaumeCH 0:38dbe2988e77 209
GuillaumeCH 0:38dbe2988e77 210 }
GuillaumeCH 0:38dbe2988e77 211 long int get_nbr_tick_G()
GuillaumeCH 0:38dbe2988e77 212 {
GuillaumeCH 0:38dbe2988e77 213 return encoderValueB;
GuillaumeCH 0:38dbe2988e77 214 }
GuillaumeCH 0:38dbe2988e77 215
GuillaumeCH 0:38dbe2988e77 216 volatile int lastEncodedB = 0;
GuillaumeCH 0:38dbe2988e77 217 long lastencoderValueB = 0;
GuillaumeCH 0:38dbe2988e77 218 int lastMSBB = 0;
GuillaumeCH 0:38dbe2988e77 219 int lastLSBB = 0;
GuillaumeCH 0:38dbe2988e77 220
GuillaumeCH 0:38dbe2988e77 221 void updateEncoderB()
GuillaumeCH 0:38dbe2988e77 222 {
GuillaumeCH 0:38dbe2988e77 223 int MSBB = ENCBL.read(); //MSB = most significant bit
GuillaumeCH 0:38dbe2988e77 224 int LSBB = ENCBJ.read(); //LSB = least significant bit
GuillaumeCH 0:38dbe2988e77 225
GuillaumeCH 0:38dbe2988e77 226 int encodedB = (MSBB << 1) |LSBB; //converting the 2 pin value to single number
GuillaumeCH 0:38dbe2988e77 227 int sumB = (lastEncodedB << 2) | encodedB; //adding it to the previous encoded value
GuillaumeCH 0:38dbe2988e77 228
GuillaumeCH 0:38dbe2988e77 229 if(sumB == 0b1101 || sumB == 0b0100 || sumB == 0b0010 || sumB == 0b1011) encoderValueB ++;
GuillaumeCH 0:38dbe2988e77 230 if(sumB == 0b1110 || sumB == 0b0111 || sumB == 0b0001 || sumB == 0b1000) encoderValueB --;
GuillaumeCH 0:38dbe2988e77 231
GuillaumeCH 0:38dbe2988e77 232 lastEncodedB = encodedB; //store this value for next time
GuillaumeCH 0:38dbe2988e77 233 }
GuillaumeCH 0:38dbe2988e77 234
GuillaumeCH 0:38dbe2988e77 235 void attente_synchro()
GuillaumeCH 0:38dbe2988e77 236 {
GuillaumeCH 0:38dbe2988e77 237 //structute du temps d'attente de l'asservissement 10ms
GuillaumeCH 0:38dbe2988e77 238 wait(0.010);
GuillaumeCH 0:38dbe2988e77 239 }
GuillaumeCH 0:38dbe2988e77 240
GuillaumeCH 0:38dbe2988e77 241 void motors_stop()
GuillaumeCH 0:38dbe2988e77 242 {
GuillaumeCH 0:38dbe2988e77 243 moteurs_arret=1;
GuillaumeCH 0:38dbe2988e77 244 motors[0]->prepare_hard_hiz(); //mode haute impédence pour pouvoir déplacer le robot à la main
GuillaumeCH 0:38dbe2988e77 245 motors[1]->prepare_hard_hiz();
GuillaumeCH 0:38dbe2988e77 246 x_nucleo_ihm02a1->perform_prepared_actions();
GuillaumeCH 0:38dbe2988e77 247 }
GuillaumeCH 0:38dbe2988e77 248
GuillaumeCH 0:38dbe2988e77 249 void motors_on()
GuillaumeCH 0:38dbe2988e77 250 {
GuillaumeCH 0:38dbe2988e77 251 moteurs_arret=0;
GuillaumeCH 0:38dbe2988e77 252 }
GuillaumeCH 0:38dbe2988e77 253
GuillaumeCH 0:38dbe2988e77 254
GuillaumeCH 0:38dbe2988e77 255 void allumer_del()
GuillaumeCH 0:38dbe2988e77 256 {
GuillaumeCH 0:38dbe2988e77 257 led = 1;
GuillaumeCH 0:38dbe2988e77 258 }
GuillaumeCH 0:38dbe2988e77 259
GuillaumeCH 0:38dbe2988e77 260 void eteindre_del()
GuillaumeCH 0:38dbe2988e77 261 {
GuillaumeCH 0:38dbe2988e77 262 led = 0;
GuillaumeCH 0:38dbe2988e77 263 }
GuillaumeCH 0:38dbe2988e77 264
GuillaumeCH 0:38dbe2988e77 265 void delay_ms()
GuillaumeCH 0:38dbe2988e77 266 {
GuillaumeCH 0:38dbe2988e77 267 }
GuillaumeCH 0:38dbe2988e77 268
GuillaumeCH 0:38dbe2988e77 269 void allumer_autres_del()
GuillaumeCH 0:38dbe2988e77 270 {
GuillaumeCH 0:38dbe2988e77 271 }
GuillaumeCH 0:38dbe2988e77 272
GuillaumeCH 0:38dbe2988e77 273 void eteindre_autres_del()
GuillaumeCH 0:38dbe2988e77 274 {
GuillaumeCH 0:38dbe2988e77 275 }
GuillaumeCH 0:38dbe2988e77 276 void toggle_autres_del() {}
GuillaumeCH 0:38dbe2988e77 277
GuillaumeCH 0:38dbe2988e77 278 void set_all_led()
GuillaumeCH 0:38dbe2988e77 279 {
GuillaumeCH 0:38dbe2988e77 280
GuillaumeCH 0:38dbe2988e77 281 }
GuillaumeCH 0:38dbe2988e77 282
GuillaumeCH 0:38dbe2988e77 283