modelec/servo_moteurs
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Angle progressif pano

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bap
2024-04-18 17:46:16 +02:00
parent 70c57d2652
commit b63636e373
2 changed files with 9 additions and 2 deletions
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8
MyTCPClient.cpp
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@@ -222,11 +222,15 @@ void MyTCPClient::ouvrir_pince(int pince, bool force) {
void MyTCPClient::check_panneau(int quelBras) { void MyTCPClient::check_panneau(int quelBras) {
this->pwm_setServoPosition(quelBras, 30); for (int i = PANO_BAS; i <= PANO_HAUT;i++){
this->pwm_setServoPosition(quelBras, i);
}
} }
void MyTCPClient::uncheck_panneau(int quelBras) { void MyTCPClient::uncheck_panneau(int quelBras) {
this->pwm_setServoPosition(quelBras, 0); for (int i = PANO_HAUT; i >= PANO_BAS;i--){
this->pwm_setServoPosition(quelBras, i);
}
} }
void MyTCPClient::pwm_clear() { void MyTCPClient::pwm_clear() {

3
MyTCPClient.h
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@@ -9,6 +9,9 @@
#define SERVO_MIN 82 // 0.02*4096 #define SERVO_MIN 82 // 0.02*4096
#define SERVO_MAX 492 // 0.12*4096 #define SERVO_MAX 492 // 0.12*4096
#define PANO_HAUT 25
#define PANO_BAS 5
enum BrasState { enum BrasState {
BRAS_BAS, BRAS_BAS,