modelec/servo_moteurs
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angle degrees

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This commit is contained in:
ackimixs
2024-04-18 16:11:23 +02:00
parent 7457059c36
commit 0d5d65c07a
1 changed files with 9 additions and 4 deletions
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13
MyTCPClient.cpp
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@@ -34,9 +34,9 @@ void MyTCPClient::handleMessage(const std::string &message) {
}
else if(token[2] == "transport bras"){
this->fermer_pince(0);
this->fermer_pince(2);
this->transport_bras();
}
this->fermer_pince(2);
this->transport_bras();
}
else if (token[2] == "lever bras") {
this->fermer_pince(0);
this->fermer_pince(2);
@@ -85,10 +85,15 @@ void MyTCPClient::pwm_setServoPosition(int servo, int position) {
void MyTCPClient::baisser_bras() {
switch(this->positionBras){
case BRAS_HAUT:
for(int i = angleBrasHaut.servo4; i <= angleBrasBas.servo4;i++){
/*for(int i = angleBrasHaut.servo4; i <= angleBrasBas.servo4;i++){
this->pwm_setServoPosition(4, i);
usleep(5'000);
this->pwm_setServoPosition(5, angleBrasHaut.servo5-i-angleBrasHaut.servo4);
}*/
for (int i = angleBrasHaut.servo5;i >= angleBrasBas.servo5;i--){
this->pwm_setServoPosition(4, angleBrasBas.servo4-i-angleBrasBas.servo5);
usleep(5'000);
this->pwm_setServoPosition(5, i);
}
break;
case BRAS_TRANSPORT: