modelec/servo_moteurs
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Merge remote-tracking branch 'origin/tcp-newlib' into tcp-newlib

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ackimixs
2024-04-11 18:19:09 +02:00
parent 6b046d87f6 0a09a718dc
commit 06fc0fa00b
2 changed files with 66 additions and 5 deletions
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63
MyTCPClient.cpp
View File

@@ -77,7 +77,24 @@ void MyTCPClient::pwm_setServoPosition(int servo, int position) {
pca.set_pwm(servo, 0, on_time);
}
void MyTCPClient::baisser_bras(bool force) {
void MyTCPClient::baisser_bras() {
int angle;
switch(this->poisitionBras){
case BRAS_HAUT:
angle = 100;
break;
case BRAS_TRANSPORT:
angle = 17;
break;
}
this->positionBras = BRAS_BAS;
for (int i = 1; i <= angle;i++){
usleep(5'000);
this->pwm_setServoPosition(4, i);
this->pwm_setServoPosition(5, angle-i);
}
}
/*void MyTCPClient::baisser_bras(bool force) {
if (brasBaisse == 0 && !force){
return;
}
@@ -88,9 +105,49 @@ void MyTCPClient::baisser_bras(bool force) {
this->pwm_setServoPosition(5, angle-i);
}
brasBaisse = 0;
}*/
void MyTCPClient::transport_bras(){
int angle;
switch(this->poisitionBras){
case BRAS_BAS:
angle = 17;
for (int i = 1; i <= angle; i++){
usleep(5'000);
this->pwm_setServoPosition(4, angle-i);
this->pwm_setServoPosition(5, i);
}
break;
case BRAS_HAUT:
angle = 90;
for (int i = 1; i <= angle; i++){
usleep(5'000);
this->pwm_setServoPosition(4, i);
this->pwm_setServoPosition(5, angle-i);
}
break;
}
this->positionBras = BRAS_TRANSPORT;
}
void MyTCPClient::lever_bras(bool force) {
void MyTCPClient::lever_bras() {
int angle;
switch(this->poisitionBras){
case BRAS_BAS:
angle = 107;
break;
case BRAS_TRANSPORT:
angle = 90
break;
}
this->positionBras = BRAS_HAUT;
for (int i = 1; i <= angle;i++){
usleep(5'000);
this->pwm_setServoPosition(4, angle-i);
this->pwm_setServoPosition(5, i);
}
/*void MyTCPClient::lever_bras(bool force) {
if (!brasBaisse == 2 && !force){
return;
}
@@ -101,7 +158,7 @@ void MyTCPClient::lever_bras(bool force) {
this->pwm_setServoPosition(5, i);
}
brasBaisse = 2;
}
}*/
void MyTCPClient::fermer_pince(int pince, bool force) {
if (!pinceOuverte[pince] && !force){

8
MyTCPClient.h
View File

@@ -9,7 +9,9 @@
#define SERVO_MIN 82 // 0.02*4096
#define SERVO_MAX 492 // 0.12*4096
#define BRAS_BAS 0
#define BRAS_HAUT 1
#define BRAS_TRANSPORT 2
class MyTCPClient : public TCPClient {
public:
explicit MyTCPClient(const char* serverIP = "127.0.0.1", int port = 8080);
@@ -24,6 +26,8 @@ public:
void baisser_bras(bool force = false);
void transport_bras();
void lever_bras(bool force = false);
void fermer_pince(int pince, bool force = false);
@@ -38,7 +42,7 @@ public:
private:
PiPCA9685::PCA9685 pca;
int positionBras;
bool pinceOuverte[3] = {true, true, true};
int brasBaisse = 0;
};