From 16f50c9447101581c6fb7d72bdab16b430be0f2e Mon Sep 17 00:00:00 2001
From: Samuel <samuel.kay@poivron-robotique.fr>
Date: Sat, 20 May 2023 00:15:08 +0200
Subject: [PATCH] Pilotage du bras "pousse gateau"

---
 Test.c       | 14 ++++++++++++++
 i2c_annexe.c |  9 +++++++++
 i2c_annexe.h |  3 +++
 3 files changed, 26 insertions(+)

diff --git a/Test.c b/Test.c
index a1f3840..fce97bf 100644
--- a/Test.c
+++ b/Test.c
@@ -567,6 +567,8 @@ int test_i2c_ecriture_pico_annex_nb_2(){
     printf("P - Propulseur On\n");
     printf("M - Propulseur Off\n");
     printf("S - Score + 1\n");
+    printf("B - Bras deplie\n");
+    printf("N - Bras plie 1\n");
     
 
     int lettre;
@@ -649,6 +651,18 @@ int test_i2c_ecriture_pico_annex_nb_2(){
                     score++;
                     i2c_annexe_envoie_score(score);
                     break;
+
+                case 'b':
+                case 'B':
+                    i2c_annexe_deplie_bras();
+                    printf("=> Deplie bras\n");
+                    break;
+
+                case 'n':
+                case 'N':
+                    i2c_annexe_plie_bras();
+                    printf("=> Plie bras\n");
+                    break;
                 
                 default:
                     printf("lettre non reconnue: %d %c\n", lettre, lettre);
diff --git a/i2c_annexe.c b/i2c_annexe.c
index d9d8f31..598b3ec 100644
--- a/i2c_annexe.c
+++ b/i2c_annexe.c
@@ -115,6 +115,15 @@ void i2c_annexe_desactive_deguisement(void){
     donnees_a_envoyer=1;
 }
 
+void i2c_annexe_deplie_bras(void){
+    donnees_emission[ADRESSE_TURBINE_PORTE - ADRESSE_DEBUT_W] |= 0x20;
+    donnees_a_envoyer=1;
+}
+void i2c_annexe_plie_bras(void){
+    donnees_emission[ADRESSE_TURBINE_PORTE - ADRESSE_DEBUT_W] &= 0xDF;
+    donnees_a_envoyer=1;
+}
+
 void i2c_annexe_envoie_score(uint8_t score){
     donnees_emission[ADRESSE_SCORE - ADRESSE_DEBUT_W] = score;
     donnees_a_envoyer=1;
diff --git a/i2c_annexe.h b/i2c_annexe.h
index 2bfe9cc..70a4138 100644
--- a/i2c_annexe.h
+++ b/i2c_annexe.h
@@ -28,4 +28,7 @@ void i2c_annexe_couleur_balise(uint8_t couleur, uint16_t masque_led);
 void i2c_annexe_active_deguisement(void);
 void i2c_annexe_desactive_deguisement(void);
 
+void i2c_annexe_plie_bras(void);
+void i2c_annexe_deplie_bras(void);
+
 uint8_t i2c_annexe_get_tension_batterie(void);
\ No newline at end of file