Diff: fonctions_herkulex.cpp

Revision:

1:94a29f20ca18

Parent:

0:32fd5a08c430

Child:

3:5cc8c7dfd3b7

--- a/fonctions_herkulex.cpp	Tue Apr 23 15:41:44 2019 +0000
+++ b/fonctions_herkulex.cpp	Mon May 06 10:21:44 2019 +0000
@@ -8,7 +8,7 @@
 RawSerial pc(USBTX, USBRX,115200);
 
 RawSerial serial1(PB_6,PB_7,57600);               //              P : 41 et 42
-RawSerial serial2(PC_12,PD_2,115200);             //              P : 43 et 47
+RawSerial serial2(PC_12,PD_2,57600);             //              P : 43 et 47
 RawSerial serial3(PC_10,PC_11,57600);             //              P : 44 et 48
 RawSerial serial4(PC_6,PC_7,57600);               //              P : 45
 RawSerial serial5(PA_0,PA_1,57600);               //              P : 46
@@ -2226,15 +2226,15 @@
 {
 void   palet_accelerateur(){
     compteTour(ID,1000,1,1,PLED_ON,serialbarillet);
-    } 
+    }
 void palet_balance(){
     compteTour(ID,-1000,1,1,PLED_ON,serialbarillet);
-    } 
+    }
 void sortie_balance()
     {
-    
-    }    
-    
+
+    }
+
     */
 
 
@@ -2249,3 +2249,17 @@
 }
 
 //---------------------------------------------------------------------------------------------
+void deverouillage_torque (void)  //débloquer les servomoteurs
+{
+    for(int serial=1; serial<=3; serial++) {
+        for(int id=10; id<=26; id++) {
+            clear(id, serial);
+            setTorque(id, TORQUE_ON,serial);
+        }
+    }
+    
+    
+    
+}
+
+