Revision 3:3b6b718a76cd, committed 2016-03-15

Comitter:

oussamapay

Date:

Tue Mar 15 03:04:25 2016 +0000

Parent:

2:05faa0892bec

Commit message:

EtageHaut;

Changed in this revision

--- a/main.cpp	Thu Feb 18 10:58:50 2016 +0000
+++ b/main.cpp	Tue Mar 15 03:04:25 2016 +0000
@@ -1,104 +1,80 @@
 #include "mbed.h"
 //TIM1_CH1  //Pince Bas gauche
-PwmOut PWM1(PA_8);
-//TIM1_CH4  //Pince bas droite
-PwmOut PWM2(PA_11);
-//TIM16_CH1
-PwmOut PWM3(PA_12);
-//TIM3_CH1
-PwmOut PWM4(PB_0);
-//TIM3_CH4
-PwmOut PWM5(PB_7);
-//TIM17_CH1N
-PwmOut PWM6(PB_6);
-//TIM3_CH4,
-PwmOut PWM7(PB_1);
-//TIM3_CH3
-PwmOut PWM8(PB_0);
+PwmOut PWM1(PA_8); //D9
+
+PwmOut PWM2(PA_11); //D10
+
+PwmOut PWM3(PF_0); //D7
+
+PwmOut PWM4(PB_1); //D6
+
  
 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
+
+void Pince_Gauche(int a)
+{//50avant 0 arriere
 PWM1.period_ms(20); 
 PWM1.write(map (a,0,180,0.028f,0.12f));   
-}
+} 
  
-void Pince_Bas_Droite(int a)
+void Pince_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);
+    Pince_Droite(40);
+    Pince_Gauche(5);
     }
 void fermeture()
 {
-    Pince_Bas_Droite(35);
-    Pince_Bas_Gauche(5);
+    Pince_Droite(10);
+    Pince_Gauche(45);
     }
-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)
+void GAUCHE_MONTE_CHARGE(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);
-}
-
-void Pince_Cylindre_Droit(int a)
-{//
-PWM5.period_ms(20); 
-PWM5.write(map (a,0,180,0.028f,0.12f));   
+void DROITE_MONTE_CHARGE(int a)
+{// 40 ouverture 0 fermeture
+PWM3.period_ms(20); 
+PWM3.write(map (a,0,180,0.028f,0.12f));   
 }
 
-void Pince_Cylindre_Gauche(int a)
-{//
-PWM6.period_ms(20); 
-PWM6.write(map (a,0,180,0.028f,0.12f));   
+void Pince_Haut()
+{
+GAUCHE_MONTE_CHARGE(40);
+DROITE_MONTE_CHARGE(40);
+}
+void Pince_Bas()
+{
+GAUCHE_MONTE_CHARGE(0);
+DROITE_MONTE_CHARGE(0);
 }
 
-void Pince_Cylindre_Haut()
-{
-Pince_Cylindre_Gauche(0); 
-Pince_Cylindre_Droit(0);   
-}
-void Pince_Cylindre_Bas()
-{
-Pince_Cylindre_Gauche(0); 
-Pince_Cylindre_Droit(0);    
-}
 
 int main() 
 {
  
  
     while(1) {
-Pince_arriere();
+Pince_Bas();
 wait(1);
 ouverture();
-wait(2);
-fermeture();
-wait(2);
-Pince_avant();
-wait(3);   }
+wait(1); 
+fermeture(); 
+wait(1); 
+Pince_Haut();
+wait(1); 
+
+ }
 }
  
\ No newline at end of file