modelec/servo_moteurs
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This commit is contained in:
bap-0-1
2024-04-15 18:57:34 +02:00
parent 3a502a3bc5
commit d2bfcc6e00
1 changed files with 25 additions and 11 deletions
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36
MyTCPClient.cpp
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@@ -74,7 +74,8 @@ void MyTCPClient::pwm_init() {
this->fermer_pince(0, true);
this->fermer_pince(1, true);
this->fermer_pince(2, true);
this->baisser_bras(true);
this->positionBras = BRAS_BAS;
this->baisser_bras();//this->baisser_bras(true);
}
@@ -91,15 +92,27 @@ void MyTCPClient::baisser_bras() {
begin_angle = 107;
break;
case BRAS_TRANSPORT:
begin_angle = 17;
break;
begin_angle = 83;
angle = 19;
for (int i=1;i <= angle;i++){
this->pwm_setServoPosition(4, begin_angle+i);
if (angle-i>=5){
this->pwm_setServoPosition(5, angle-i);//Je brode, je brode
}
}
this->positionBras = BRAS_BAS;
return;
case BRAS_BAS:
this->pwm_setServoPosition(4, 102);
this->pwm_setServoPosition(5, 5);
return;
}
this->positionBras = BRAS_BAS;
for (int i = begin_angle; i >= angle;i--){
usleep(5'000);
this->pwm_setServoPosition(4, angle-i);
this->pwm_setServoPosition(4, begin_angle+i);
this->pwm_setServoPosition(5, i);
}
this->positionBras = BRAS_BAS;
}
/*void MyTCPClient::baisser_bras(bool force) {
@@ -121,19 +134,20 @@ void MyTCPClient::transport_bras(){
int angle = 17;
switch(this->positionBras){
case BRAS_BAS:
begin_angle = 5;
begin_angle = 1;
for (int i = begin_angle; i <= angle; i++){
usleep(5'000);
this->pwm_setServoPosition(4, angle-i);
this->pwm_setServoPosition(4, 100-i);
this->pwm_setServoPosition(5, i);
}
break;
case BRAS_HAUT:
begin_angle = 107;
for (int i = begin_angle; i >= angle; i--){
angle = 83;
for (int i = 1; i <= angle; i++){
usleep(5'000);
this->pwm_setServoPosition(4, angle-i);
this->pwm_setServoPosition(5, i);
this->pwm_setServoPosition(4, i);
this->pwm_setServoPosition(5, begin_angle-i-7);
}
break;
}
@@ -151,12 +165,12 @@ void MyTCPClient::lever_bras() {
begin_angle = 17;
break;
}
this->positionBras = BRAS_HAUT;
for (int i = begin_angle; i <= angle;i++){
usleep(5'000);
this->pwm_setServoPosition(4, angle-i);
this->pwm_setServoPosition(5, i);
}
this->positionBras = BRAS_HAUT;
}
/*
void MyTCPClient::lever_bras(bool force) {