Diff: main.cpp

Revision:

1:c56c4fb5cb59

Parent:

0:bb0da30d43f4

Child:

2:05faa0892bec

--- a/main.cpp	Tue Feb 09 13:08:49 2016 +0000
+++ b/main.cpp	Wed Feb 10 10:18:22 2016 +0000
@@ -1,7 +1,7 @@
 #include "mbed.h"
-//TIM1_CH1
+//TIM1_CH1  //Pince Bas gauche
 PwmOut PWM1(PA_8);
-//TIM1_CH4
+//TIM1_CH4  //Pince bas droite
 PwmOut PWM2(PA_11);
 //TIM16_CH1
 PwmOut PWM3(PA_12);
@@ -15,40 +15,66 @@
 PwmOut PWM7(PB_1);
 //TIM3_CH3
 PwmOut PWM8(PB_0);
-
+ 
 float map (int x, int in_min,int  in_max, float out_min, float out_max)
 {
   return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
 }
-
+ 
 void Pince_Bas_Gauche(int a)
-{
+{// 40 ouverture 0 fermeture
 PWM1.period_ms(20); 
 PWM1.write(map (a,0,180,0.028f,0.12f));   
 }
-
+ 
 void Pince_Bas_Droite(int a)
-{
+{// 0 ouverture 40 fermeture
 PWM2.period_ms(20); 
 PWM2.write(map (a,0,180,0.028f,0.12f));   
 }
-
+void ouverture()
+{
+    Pince_Bas_Droite(0);
+    Pince_Bas_Gauche(40);
+    }
+void fermeture()
+{
+    Pince_Bas_Droite(35);
+    Pince_Bas_Gauche(5);
+    }
 void Pince_Glissement_Gauche(int a)
-{
+{//50avant 0 arriere
 PWM3.period_ms(20); 
 PWM3.write(map (a,0,180,0.028f,0.12f));   
 }
-
+ 
 void Pince_Glissement_Droit(int a)
-{
+{//0 avant 50 arriere
 PWM4.period_ms(20); 
 PWM4.write(map (a,0,180,0.028f,0.12f));   
 }
-
+void Pince_avant()
+{
+Pince_Glissement_Droit(0);
+Pince_Glissement_Gauche(50);
+}
+void Pince_arriere()
+{
+Pince_Glissement_Droit(50);
+Pince_Glissement_Gauche(0);
+}
 int main() 
 {
-
+ 
+ 
     while(1) {
-
-    }
+Pince_arriere();
+wait(1);
+ouverture();
+wait(2);
+fermeture();
+wait(2);
+Pince_avant();
+wait(3);   }
 }
+ 
\ No newline at end of file