Réglage des butées de l'ascensseur
This commit is contained in:
parent
4f8dc2b99b
commit
454a15e709
@ -8,6 +8,13 @@
|
||||
#define FOURCHE_LEVEE 5, 227
|
||||
#define FOURCHE_PRISE 5, 345
|
||||
|
||||
#define DOIGT_PINCE_GAUCHE_FERME 2080
|
||||
#define DOIGT_PINCE_GAUCHE_OUVRE 2367
|
||||
#define DOIGT_PINCE_GAUCHE_PARKING 1550
|
||||
|
||||
#define ID_FEETECH_ASC_G 11
|
||||
#define ID_FEETECH_ASC_D 10
|
||||
|
||||
SMS_STS sms_sts;
|
||||
|
||||
int ID_Feetech = 4;
|
||||
@ -45,7 +52,7 @@ void setup()
|
||||
//ledcWrite(5, 227); // Position levée (butée haute)
|
||||
//ledcWrite(5, 345); // Position de prise
|
||||
|
||||
|
||||
/*
|
||||
while(1){
|
||||
ledcWrite(FOURCHE_PRISE);
|
||||
delay(1000);
|
||||
@ -56,7 +63,7 @@ void setup()
|
||||
ledcWrite(FOURCHE_TRANSPORT);
|
||||
delay(5000);
|
||||
|
||||
}
|
||||
}*/
|
||||
|
||||
|
||||
// Servo pinces à aimant
|
||||
@ -72,6 +79,28 @@ void setup()
|
||||
ledcAttach(4, 2000, 8);
|
||||
ledcWrite(4, 0);
|
||||
|
||||
/*while(1){
|
||||
|
||||
ledcWrite(FOURCHE_PRISE);
|
||||
delay(1000);
|
||||
ledcWrite(FOURCHE_TRANSPORT);
|
||||
delay(1000);
|
||||
ledcWrite(FOURCHE_LEVEE);
|
||||
delay(1000);
|
||||
ledcWrite(FOURCHE_TRANSPORT);
|
||||
delay(1000);
|
||||
|
||||
sms_sts.WritePosEx(3, DOIGT_PINCE_GAUCHE_PARKING, 2400, 50);
|
||||
delay(1000);
|
||||
sms_sts.WritePosEx(3, DOIGT_PINCE_GAUCHE_OUVRE, 2400, 50);
|
||||
delay(3000);
|
||||
sms_sts.WritePosEx(3, DOIGT_PINCE_GAUCHE_FERME, 2400, 50);
|
||||
delay(5000);
|
||||
sms_sts.WritePosEx(3, DOIGT_PINCE_GAUCHE_OUVRE, 2400, 50);
|
||||
delay(5000);
|
||||
|
||||
}*/
|
||||
|
||||
|
||||
if(sms_sts.FeedBack(ID_Feetech)!=-1){
|
||||
actuelle.position = sms_sts.ReadPos(-1);
|
||||
@ -110,9 +139,9 @@ void goto_position(int servo_id, position_t position){
|
||||
loin = 1;
|
||||
sms_sts.WheelMode(servo_id);
|
||||
if(actuelle.nb_tour < position.nb_tour){
|
||||
sms_sts.WriteSpe(servo_id, 2400, 50);
|
||||
}else{
|
||||
sms_sts.WriteSpe(servo_id, -2400, 50);
|
||||
}else{
|
||||
sms_sts.WriteSpe(servo_id, 2400, 50);
|
||||
}
|
||||
}
|
||||
}else{
|
||||
@ -127,6 +156,8 @@ void goto_position(int servo_id, position_t position){
|
||||
Serial.printf(">act_pos:%d\n",actuelle.position);
|
||||
Serial.printf(">act_nb_tour:%d\n",actuelle.nb_tour);
|
||||
|
||||
|
||||
|
||||
}
|
||||
|
||||
void loop()
|
||||
@ -146,7 +177,7 @@ void loop()
|
||||
*/
|
||||
Serial.print(">millis:");
|
||||
Serial.println(millis());
|
||||
if(millis() > myTime + 8000){
|
||||
if(millis() > myTime + 4000){
|
||||
myTime = millis();
|
||||
if(m_pos){
|
||||
//sms_sts.WritePosEx(ID_Feetech, 4095, 2400, 50);
|
||||
|
Loading…
Reference in New Issue
Block a user