From 080e154459fedf61d47307573eab7f5c11cdc0ad Mon Sep 17 00:00:00 2001 From: Samuel Date: Wed, 31 Jan 2024 21:57:55 +0100 Subject: [PATCH] =?UTF-8?q?Ajustement=20apr=C3=A8s=20essais?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- main.c | 30 ++++++++++++++++-------------- 1 file changed, 16 insertions(+), 14 deletions(-) diff --git a/main.c b/main.c index ad3385b..3aef47a 100644 --- a/main.c +++ b/main.c @@ -48,6 +48,19 @@ void main(void) vitesse_angle = reception[2] - 128; + switch(reception[3]){ + case 0: Servo_pince_ouverte(); break; + case 1: Servo_pince_plante(); break; + case 2: Servo_pince_pot(); break; + } + + switch(reception[4]){ + case 0: Servo_ascenseur_bas(); break; + case 1: Servo_ascenseur_haut(); break; + case 2: Servo_ascenseur_lache_pot_jardiniere(); break; + case 3: Servo_ascenseur_lache_plante(); break; + } + } else { @@ -64,9 +77,9 @@ void main(void) if(vitesse_angle != 0) { vitesse_m1 = vitesse_angle; - vitesse_m2 = vitesse_angle; + vitesse_m2 = -vitesse_angle; vitesse_m3 = vitesse_angle; - vitesse_m4 = vitesse_angle; + vitesse_m4 = -vitesse_angle; } printf(">vitesseM1:%d\n", vitesse_m1); @@ -79,17 +92,6 @@ void main(void) Motor3_speed(vitesse_m3); Motor4_speed(vitesse_m4); - switch(reception[3]){ - case 0: Servo_pince_ouverte(); break; - case 1: Servo_pince_plante(); break; - case 2: Servo_pince_pot(); break; - } - - switch(reception[4]){ - case 0: Servo_ascenseur_bas(); break; - case 1: Servo_ascenseur_haut(); break; - case 2: Servo_ascenseur_lache_pot_jardiniere(); break; - case 3: Servo_ascenseur_lache_plante(); break; - } + } } \ No newline at end of file