File content as of revision 1:32e0accab04d:

#include "mbed.h"

SPISlave SPINUCLEO(PA_7,PA_6,PA_5,PA_4);
//DigitalOut myled(LED1);

PwmOut PWM1(PA_8);
//TIM1_CH4  //Pince bas gauche
PwmOut PWM2(PA_11);
//TIM16_CH1
PwmOut PWM3(PA_12);// Pince Glissement Gauche
//TIM3_CH1
PwmOut PWM4(PB_0);//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(PF_0); //pince bas droite

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
PWM2.period_ms(20); 
PWM2.write(map (a,0,180,0.028f,0.12f));   
}

void Pince_Bas_Droite(int a)
{// 0 ouverture 40 fermeture
PWM8.period_ms(20); 
PWM8.write(map (a,0,180,0.028f,0.12f));   
}
void ouverture()
{
    Pince_Bas_Droite(0);
    Pince_Bas_Gauche(40);
    }
void fermeture()
{
    Pince_Bas_Droite(40);
    Pince_Bas_Gauche(0);
    }
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)
{//0avant 50 arriere
PWM4.period_ms(20); 
PWM4.write(map (a,0,180,0.028f,0.12f));   
}
void Pince_arriere()
{
Pince_Glissement_Droit(0);
Pince_Glissement_Gauche(50);
}
void Pince_avant()
{
Pince_Glissement_Droit(55);
Pince_Glissement_Gauche(0);
}

int main() {
int a=0;
SPINUCLEO.frequency(21000000);  
SPINUCLEO.reply(0x00);

ouverture();

while (1)
{
if (SPINUCLEO.receive())
{
a=SPINUCLEO.read();
if(a==0x0A)
{
 ouverture();
 wait(2);
 fermeture();
 wait(2);
 SPINUCLEO.reply(0x0B);
 
}}

}

}