Diff: fonctions_herkulex.cpp

Revision:

14:a6e5d1ce2133

Parent:

13:050a0cb110b5

Child:

16:fe49d838a0cc

--- a/fonctions_herkulex.cpp	Fri May 31 20:52:03 2019 +0000
+++ b/fonctions_herkulex.cpp	Thu Mar 12 06:29:07 2020 +0000
@@ -2,16 +2,15 @@
 #include "fonctions_herkulex.h"
 //#include "ident_crac.h"
 
-//#ifdef ROBOT_BIG
 
 //-------------------------Définition des ports série---------------------------
 //RawSerial pc(USBTX, USBRX,115200);
 
-RawSerial serial1(PB_6,PB_7,57600);               //              P : 41 et 42
-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
+RawSerial serial1(PB_6,PB_7,115200);               //              P : 41 et 42
+RawSerial serial2(PC_12,PD_2,115200);             //              P : 43 et 47
+RawSerial serial3(PC_10,PC_11,115200);             //              P : 44 et 48
+RawSerial serial4(PC_6,PC_7,115200);               //              P : 45
+RawSerial serial5(PA_0,PA_1,115200);               //              P : 46
 
 
 //----------------------------variables de reception----------------------------
@@ -694,7 +693,6 @@
 
 /*#ifdef HERKULEX_DEBUG
 pc->printf("[TX]");
-#endif
 for(uint8_t i = 0; i < packetSize ; i++)
 {
 #ifdef HERKULEX_DEBUG
@@ -1076,7 +1074,7 @@
     int flagTour=0;
     int flagDernierTour = 0;
     int end = 0;
-    int posAct, posCible, posFinale, pos;
+    int posAct, posCible, pos;
     servo_interrupt_en();
     clear(ID,serial);
     setTorque(ID, TORQUE_ON,serial);