From 7abe0be7d084305bc2e27df3b67caef947743eb8 Mon Sep 17 00:00:00 2001
From: bap <baptiste.taillandier@isen-ouest.yncrea.fr>
Date: Wed, 17 Apr 2024 18:11:31 +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?=
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---
 MyTCPClient.cpp | 10 ++++++----
 1 file changed, 6 insertions(+), 4 deletions(-)

diff --git a/MyTCPClient.cpp b/MyTCPClient.cpp
index 4bb8aa3..47e406e 100644
--- a/MyTCPClient.cpp
+++ b/MyTCPClient.cpp
@@ -123,8 +123,9 @@ void MyTCPClient::transport_bras(){
                 this->pwm_setServoPosition(5, angleBrasHaut.servo5-i-angleBrasHaut.servo4);
             }
             break;
-        default:
-            return;
+        case BRAS_TRANSPORT:
+            this->pwm_setServoPosition(4, angleBrasTransport.servo4);
+            this->pwm_setServoPosition(5, angleBrasTransport.servo5);
     }
     this->positionBras = BRAS_TRANSPORT;
 }
@@ -145,8 +146,9 @@ void MyTCPClient::lever_bras() {
                 usleep(5'000);
             }
             break;
-        default:
-            return;
+        case BRAS_HAUT:
+            this->pwm_setServoPosition(4, angleBrasHaut.servo4);
+            this->pwm_setServoPosition(5, angleBrasHaut.servo5);
     }
     this->positionBras = BRAS_HAUT;
 }