modelec/servo_moteurs
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Changement boucle

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bap
2024-04-18 16:44:12 +02:00
parent 7457059c36
commit a7ed3f36a0
1 changed files with 6 additions and 6 deletions
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12
MyTCPClient.cpp
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@@ -88,14 +88,14 @@ void MyTCPClient::baisser_bras() {
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);
this->pwm_setServoPosition(5, angleBrasHaut.servo5-i+angleBrasHaut.servo4);
}
break;
case BRAS_TRANSPORT:
for(int i = angleBrasTransport.servo4; i <= angleBrasBas.servo4;i++){
this->pwm_setServoPosition(4, i);
usleep(5'000);
this->pwm_setServoPosition(5, angleBrasTransport.servo5-i-angleBrasTransport.servo4);
this->pwm_setServoPosition(5, angleBrasTransport.servo5-i+angleBrasTransport.servo4);
}
break;
case BRAS_BAS:
@@ -112,7 +112,7 @@ void MyTCPClient::transport_bras(){
switch(this->positionBras){
case BRAS_BAS:
for (int i = angleBrasBas.servo5; i <= angleBrasTransport.servo5; i++){
this->pwm_setServoPosition(4, angleBrasBas.servo4-i-angleBrasBas.servo5);
this->pwm_setServoPosition(4, angleBrasBas.servo4-i+angleBrasBas.servo5);
usleep(5'000);
this->pwm_setServoPosition(5, i);
}
@@ -121,7 +121,7 @@ void MyTCPClient::transport_bras(){
for (int i = angleBrasHaut.servo4; i <= angleBrasTransport.servo4; i++){
this->pwm_setServoPosition(4, i);
usleep(5'000);
this->pwm_setServoPosition(5, angleBrasHaut.servo5-i-angleBrasHaut.servo4);
this->pwm_setServoPosition(5, angleBrasHaut.servo5-i+angleBrasHaut.servo4);
}
break;
case BRAS_TRANSPORT:
@@ -138,14 +138,14 @@ void MyTCPClient::lever_bras() {
switch(this->positionBras){
case BRAS_BAS:
for (int i = angleBrasBas.servo5;i <= angleBrasHaut.servo5;i++){
this->pwm_setServoPosition(4, angleBrasBas.servo4-i-angleBrasBas.servo5);
this->pwm_setServoPosition(4, angleBrasBas.servo4-i+angleBrasBas.servo5);
usleep(5'000);
this->pwm_setServoPosition(5, i);
}
break;
case BRAS_TRANSPORT:
for (int i = angleBrasTransport.servo5;i <= angleBrasHaut.servo5;i++){
this->pwm_setServoPosition(4, angleBrasTransport.servo4-i-angleBrasTransport.servo5);
this->pwm_setServoPosition(4, angleBrasTransport.servo4-i+angleBrasTransport.servo5);
usleep(5'000);
this->pwm_setServoPosition(5, i);
}