Keuronde/Robot_Riombotique
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Ajustement après essais

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This commit is contained in:
Samuel 2024-01-31 21:57:55 +01:00
parent c65ce1300a
commit 080e154459
1 changed files with 16 additions and 14 deletions
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30
main.c
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@ -48,6 +48,19 @@ void main(void)
vitesse_angle = reception[2] - 128; 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 else
{ {
@ -64,9 +77,9 @@ void main(void)
if(vitesse_angle != 0) if(vitesse_angle != 0)
{ {
vitesse_m1 = vitesse_angle; vitesse_m1 = vitesse_angle;
vitesse_m2 = vitesse_angle; vitesse_m2 = -vitesse_angle;
vitesse_m3 = vitesse_angle; vitesse_m3 = vitesse_angle;
vitesse_m4 = vitesse_angle; vitesse_m4 = -vitesse_angle;
} }
printf(">vitesseM1:%d\n", vitesse_m1); printf(">vitesseM1:%d\n", vitesse_m1);
@ -79,17 +92,6 @@ void main(void)
Motor3_speed(vitesse_m3); Motor3_speed(vitesse_m3);
Motor4_speed(vitesse_m4); 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;
}
} }
} }