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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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26
Actionneurs/Actionneurs.ino
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@ -294,6 +294,9 @@ void loop()
if(inByte == 'f'){ if(inByte == 'f'){
Servo_set(FOURCHE_LEVEE); Servo_set(FOURCHE_LEVEE);
} }
if(inByte == 'y'){
while(Actionneur_depile_planche() == ACTION_EN_COURS);
}
if(inByte == '1'){ if(inByte == '1'){
reglage_servo(8); 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_DROIT_FERME);
Servo_set(DOIGT_PINCE_GAUCHE_FERME); Servo_set(DOIGT_PINCE_GAUCHE_FERME);
// Aimant sortis // Aimant sortis
Servo_set(AIMANT_PINCE_DROIT_TIENT); Servo_set(AIMANT_PINCE_DROIT_LACHE);
Servo_set(AIMANT_PINCE_GAUCHE_TIENT); Servo_set(AIMANT_PINCE_GAUCHE_LACHE);
// Translateur à l'arrière // Translateur à l'arrière
Translateur_recule(); Translateur_recule();
@ -431,16 +434,25 @@ enum etat_action_t Actionneur_depile_planche(void){
ledcWrite(FOURCHE_LEVEE); ledcWrite(FOURCHE_LEVEE);
delay(1000); delay(1000);
ledcWrite(FOURCHE_PRISE); ledcWrite(FOURCHE_PRISE);
delay(100); delay(50);
ledcWrite(FOURCHE_LEVEE); ledcWrite(FOURCHE_LEVEE);
delay(250); delay(150);
ledcWrite(FOURCHE_PRISE); ledcWrite(FOURCHE_PRISE);
delay(100); delay(50);
ledcWrite(FOURCHE_LEVEE); ledcWrite(FOURCHE_LEVEE);
delay(250); delay(150);
ledcWrite(FOURCHE_PRISE); ledcWrite(FOURCHE_PRISE);
delay(100); delay(50);
ledcWrite(FOURCHE_LEVEE); 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; return ACTION_TERMINEE;