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Pousse avec servomoteur

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This commit is contained in:
Samuel 2023-05-20 02:23:36 +02:00
parent 41459008fa
commit 060fb3414a
1 changed files with 6 additions and 4 deletions
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10
Strategie_pousse_gateau.c
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@ -20,11 +20,11 @@ enum etat_action_t Gateau_pousse_proche(enum couleur_t couleur, uint32_t step_ms
switch(etat){
case ALLER_1:
if(couleur == COULEUR_BLEU){
angle_fin = 180. * DEGRE_EN_RADIAN;
point_x = 225;
angle_fin = 90. * DEGRE_EN_RADIAN;
point_x = 310;
}else{
angle_fin = 180. * DEGRE_EN_RADIAN;
point_x = 1775;
angle_fin = 195. * DEGRE_EN_RADIAN;
point_x = 1700;
}
angle_fin = Geometrie_get_angle_optimal(Localisation_get().angle_radian, angle_fin);
@ -34,6 +34,7 @@ enum etat_action_t Gateau_pousse_proche(enum couleur_t couleur, uint32_t step_ms
if(parcourt_trajet_simple(trajectoire, step_ms) == ACTION_TERMINEE){
etat=ALLER_2;
i2c_annexe_deplie_bras();
}
break;
@ -52,6 +53,7 @@ enum etat_action_t Gateau_pousse_proche(enum couleur_t couleur, uint32_t step_ms
Localisation_get().angle_radian, angle_fin);
if(parcourt_trajet_simple(trajectoire, step_ms) == ACTION_TERMINEE){
i2c_annexe_plie_bras();
etat=ALLER_3;
}
break;