modelec/servo_moteurs
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Ajout code Baptiste pour le bras en mode transport

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bap
2024-04-15 14:35:14 +02:00
parent 2fd131d0d5
commit afacbcd976
1 changed files with 28 additions and 24 deletions
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52
MyTCPClient.cpp
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@@ -81,24 +81,26 @@ void MyTCPClient::pwm_setServoPosition(int servo, int position) {
pca.set_pwm(servo, 0, on_time);
}
/*void MyTCPClient::baisser_bras() {
int angle;
void MyTCPClient::baisser_bras() {
int angle = 5;
int begin_angle;
switch(this->positionBras){
case BRAS_HAUT:
angle = 100;
begin_angle = 107;
break;
case BRAS_TRANSPORT:
angle = 17;
begin_angle = 17;
break;
}
this->positionBras = BRAS_BAS;
for (int i = 1; i <= angle;i++){
for (int i = begin_angle; i <= angle;i--){
usleep(5'000);
this->pwm_setServoPosition(4, i);
this->pwm_setServoPosition(5, angle-i);
this->pwm_setServoPosition(4, angle-i);
this->pwm_setServoPosition(5, i);
}
}*/
void MyTCPClient::baisser_bras(bool force) {
}
/*void MyTCPClient::baisser_bras(bool force) {
if (brasBaisse == 0 && !force){
return;
}
@@ -110,49 +112,51 @@ void MyTCPClient::baisser_bras(bool force) {
}
this->positionBras = BRAS_BAS;
brasBaisse = 0;
}
}*/
void MyTCPClient::transport_bras(){
int angle;
int begin_angle;
int angle = 17;
switch(this->positionBras){
case BRAS_BAS:
angle = 17;
for (int i = 1; i <= angle; i++){
begin_angle = 5;
for (int i = begin_angle; i <= angle; i++){
usleep(5'000);
this->pwm_setServoPosition(4, angle-i);
this->pwm_setServoPosition(5, i);
}
break;
case BRAS_HAUT:
angle = 90;
for (int i = 1; i <= angle; i++){
begin_angle = 107;
for (int i = begin_angle; i <= angle; i--){
usleep(5'000);
this->pwm_setServoPosition(4, i);
this->pwm_setServoPosition(5, angle-i);
this->pwm_setServoPosition(4, angle-i);
this->pwm_setServoPosition(5, i);
}
break;
}
this->positionBras = BRAS_TRANSPORT;
}
/*
void MyTCPClient::lever_bras() {
int angle;
int begin_angle;
int angle = 107;
switch(this->positionBras){
case BRAS_BAS:
angle = 107;
begin_angle = 5;
break;
case BRAS_TRANSPORT:
angle = 90;
begin_angle = 17;
break;
}
this->positionBras = BRAS_HAUT;
for (int i = 1; i <= angle;i++){
for (int i = begin_angle; i <= angle;i++){
usleep(5'000);
this->pwm_setServoPosition(4, angle-i);
this->pwm_setServoPosition(5, i);
}
}
*/
/*
void MyTCPClient::lever_bras(bool force) {
if (!brasBaisse == 2 && !force){
return;
@@ -166,7 +170,7 @@ void MyTCPClient::lever_bras(bool force) {
brasBaisse = 2;
this->positionBras = BRAS_HAUT;
}
*/
void MyTCPClient::fermer_pince(int pince, bool force) {
if (!pinceOuverte[pince] && !force){
return;