From 2ff883dbd8ea881e964bb854d8f9adecc9cbbed2 Mon Sep 17 00:00:00 2001 From: bap Date: Wed, 17 Apr 2024 18:15:06 +0200 Subject: [PATCH] =?UTF-8?q?Restructuration=20globale=20des=20methodes=20du?= =?UTF-8?q?=20bras=20et=20ajout=20de=20structure=20pour=20g=C3=A9rer=20les?= =?UTF-8?q?=20angles=20du=20bras?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- MyTCPClient.cpp | 10 +++++++++- 1 file changed, 9 insertions(+), 1 deletion(-) diff --git a/MyTCPClient.cpp b/MyTCPClient.cpp index 47e406e..3360a65 100644 --- a/MyTCPClient.cpp +++ b/MyTCPClient.cpp @@ -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) {