Diff: main.cpp

Revision:

2:197217bf7bca

Parent:

1:6c59c6871460

diff -r 6c59c6871460 -r 197217bf7bca main.cpp
--- a/main.cpp	Tue Feb 09 15:44:08 2016 +0000
+++ b/main.cpp	Wed Mar 23 11:54:22 2016 +0000
@@ -2,19 +2,13 @@
 //TIM1_CH1  //Pince Bas gauche
 PwmOut PWM1(PA_8);
 //TIM1_CH4  //Pince bas droite
-PwmOut PWM2(PA_11);
+PwmOut PWM2(PA_9);
 //TIM16_CH1
-PwmOut PWM3(PA_12);
+PwmOut PWM3(PB_4);// Pince Glissement Gauche
 //TIM3_CH1
-PwmOut PWM4(PB_0);
+PwmOut PWM4(PB_10);//Pince Glissement droite
 //TIM3_CH4
-PwmOut PWM5(PB_7);
-//TIM17_CH1N
-PwmOut PWM6(PB_6);
-//TIM3_CH4,
-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)
 {
@@ -34,14 +28,14 @@
 }
 void ouverture()
 {
-    Pince_Bas_Droite(0);
-    Pince_Bas_Gauche(40);
+Pince_Bas_Gauche(80);
+Pince_Bas_Droite(10);
     }
 void fermeture()
 {
-    Pince_Bas_Droite(35);
-    Pince_Bas_Gauche(5);
-    }
+    Pince_Bas_Gauche(30);
+    Pince_Bas_Droite(60);
+}
 void Pince_Glissement_Gauche(int a)
 {//50avant 0 arriere
 PWM3.period_ms(20); 
@@ -49,16 +43,16 @@
 }
 
 void Pince_Glissement_Droit(int a)
-{//0 avant 50 arriere
+{//0avant 50 arriere
 PWM4.period_ms(20); 
 PWM4.write(map (a,0,180,0.028f,0.12f));   
 }
-void Pince_avant()
+void Pince_arriere()
 {
 Pince_Glissement_Droit(0);
 Pince_Glissement_Gauche(50);
 }
-void Pince_arriere()
+void Pince_avant()
 {
 Pince_Glissement_Droit(50);
 Pince_Glissement_Gauche(0);
@@ -67,13 +61,14 @@
 {
 
 
-    while(1) {
-Pince_arriere();
-wait(1);
-ouverture();
-wait(2);
-fermeture();
-wait(2);
-Pince_avant();
-wait(3);   }
+
+while(1){
+    Pince_Glissement_Gauche(90);
+Pince_Glissement_Droit(90);
+
+    wait(1);
+Pince_Glissement_Gauche(0);
+Pince_Glissement_Droit(0);
+    wait(1);
+    }
 }