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ecoue planche v1.1

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This commit is contained in:
Samuel 2025-05-30 14:53:45 +02:00
parent 73adee0cbe
commit c4e65f75b0
1 changed files with 20 additions and 8 deletions
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28
Actionneurs/Actionneurs.ino
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@ -294,6 +294,9 @@ void loop()
if(inByte == 'f'){
Servo_set(FOURCHE_LEVEE);
}
if(inByte == 'y'){
while(Actionneur_depile_planche() == ACTION_EN_COURS);
}
if(inByte == '1'){
reglage_servo(8);
}
@ -398,8 +401,8 @@ enum etat_action_t Actionneur_prepare_prise_extern(void){
Servo_set(DOIGT_PINCE_DROIT_FERME);
Servo_set(DOIGT_PINCE_GAUCHE_FERME);
// Aimant sortis
Servo_set(AIMANT_PINCE_DROIT_TIENT);
Servo_set(AIMANT_PINCE_GAUCHE_TIENT);
Servo_set(AIMANT_PINCE_DROIT_LACHE);
Servo_set(AIMANT_PINCE_GAUCHE_LACHE);
// Translateur à l'arrière
Translateur_recule();
@ -431,17 +434,26 @@ enum etat_action_t Actionneur_depile_planche(void){
ledcWrite(FOURCHE_LEVEE);
delay(1000);
ledcWrite(FOURCHE_PRISE);
delay(100);
delay(50);
ledcWrite(FOURCHE_LEVEE);
delay(250);
delay(150);
ledcWrite(FOURCHE_PRISE);
delay(100);
delay(50);
ledcWrite(FOURCHE_LEVEE);
delay(250);
delay(150);
ledcWrite(FOURCHE_PRISE);
delay(100);
delay(50);
ledcWrite(FOURCHE_LEVEE);
delay(150);
ledcWrite(FOURCHE_PRISE);
delay(50);
ledcWrite(FOURCHE_LEVEE);
delay(150);
ledcWrite(FOURCHE_PRISE);
delay(50);
ledcWrite(FOURCHE_LEVEE);
delay(150);
return ACTION_TERMINEE;
}