modelec/servo_moteurs
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Restructuration globale des methodes du bras et ajout de structure pour gérer les angles du bras

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bap
2024-04-17 18:15:06 +02:00
parent 7abe0be7d0
commit 2ff883dbd8
1 changed files with 9 additions and 1 deletions
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10
MyTCPClient.cpp
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@@ -102,9 +102,11 @@ void MyTCPClient::baisser_bras() {
case BRAS_BAS:
this->pwm_setServoPosition(4, angleBrasBas.servo4);
this->pwm_setServoPosition(5, angleBrasBas.servo5);
break;
return;
}
this->positionBras = BRAS_BAS;
this->pwm_setServoPosition(4, angleBrasBas.servo4);
this->pwm_setServoPosition(5, angleBrasBas.servo5);
}
void MyTCPClient::transport_bras(){
@@ -126,8 +128,11 @@ void MyTCPClient::transport_bras(){
case BRAS_TRANSPORT:
this->pwm_setServoPosition(4, angleBrasTransport.servo4);
this->pwm_setServoPosition(5, angleBrasTransport.servo5);
return;
}
this->positionBras = BRAS_TRANSPORT;
this->pwm_setServoPosition(4, angleBrasTransport.servo4);
this->pwm_setServoPosition(5, angleBrasTransport.servo5);
}
void MyTCPClient::lever_bras() {
@@ -149,8 +154,11 @@ void MyTCPClient::lever_bras() {
case BRAS_HAUT:
this->pwm_setServoPosition(4, angleBrasHaut.servo4);
this->pwm_setServoPosition(5, angleBrasHaut.servo5);
return;
}
this->positionBras = BRAS_HAUT;
this->pwm_setServoPosition(4, angleBrasHaut.servo4);
this->pwm_setServoPosition(5, angleBrasHaut.servo5);
}
void MyTCPClient::fermer_pince(int pince, bool force) {