modelec/servo_moteurs
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ackimixs
2024-04-11 18:18:59 +02:00
parent a76b6e1a55
commit 6b046d87f6
2 changed files with 5 additions and 26 deletions
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7
MyTCPClient.cpp
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@@ -13,13 +13,12 @@ void MyTCPClient::handleMessage(const std::string &message) {
}
if (token[1] == "servo_moteur" || token[1] == "all") {
std::cout << message << std::endl;
// std::cout << message << std::endl;
if (token[2] == "ping") {
this->sendMessage("servo_moteur;ihm;pong;1");
}
else if (token[2] == "ouvrir pince") {
int pince = std::stoi(token[3]);
std::cout << "ouvrir pince : " << pince << std::endl;
this->ouvrir_pince(pince);
}
else if (token[2] == "fermer pince") {
@@ -126,7 +125,7 @@ void MyTCPClient::fermer_pince(int pince, bool force) {
old_angle = 130;
break;
}
std::cout << "Fermer pince : " << pince << std::endl;
// std::cout << "Fermer pince : " << pince << std::endl;
for(int i = old_angle; i <= angle;i++){
this->pwm_setServoPosition(pince, i);
usleep(5'000);
@@ -156,7 +155,7 @@ void MyTCPClient::ouvrir_pince(int pince, bool force) {
old_angle = 152;
break;
}
std::cout << "Ouvrir pince : " << pince << std::endl;
// std::cout << "Ouvrir pince : " << pince << std::endl;
for (int i = old_angle; i >= angle;i--){
this->pwm_setServoPosition(pince, i);
usleep(5'000);

24
main.cpp
View File

@@ -12,28 +12,8 @@ int main(int argc, char* argv[]) {
client.sendMessage("servo_moteur;strat;ready;1");
while (true) {
std::string message;
std::getline(std::cin, message);
if (message == "quit") {
client.stop();
break;
}
if (message == "clear") {
client.pwm_clear();
}
else if (message == "close") {
client.fermer_pince(0);
client.fermer_pince(1);
client.fermer_pince(2);
} else if (message == "baisser") {
client.baisser_bras();
} else if (message == "lever") {
client.lever_bras();
}
client.sendMessage(message.c_str());
while (!client.shouldStop()) {
usleep(100'000);
}
return 0;