From b95709754c870cbb793266ce8e605a81d01a4f75 Mon Sep 17 00:00:00 2001 From: becquet Date: Fri, 11 May 2007 12:47:52 +0000 Subject: --- i/chuck/src/es/es.cc | 40 ++++++++++++++++++++++------------------ 1 file changed, 22 insertions(+), 18 deletions(-) (limited to 'i/chuck/src/es/es.cc') diff --git a/i/chuck/src/es/es.cc b/i/chuck/src/es/es.cc index 12a6f3d..452e689 100644 --- a/i/chuck/src/es/es.cc +++ b/i/chuck/src/es/es.cc @@ -83,8 +83,6 @@ Es::reset (void) setAckStat (ackFreq_); setOthersStat (othersStat_); lcdGetKey (lcdKeyStat_); - - enableAllSensors (true); log_ ("Es", Log::debug) << "Reset Es done."; } @@ -124,16 +122,6 @@ Es::isColorModeBlue (void) return colorModeBlue_; } -/// Enable all the sensors or just the 4 and 1 near the ground -void -Es::enableAllSensors (bool enable) -{ - if (enable) - proto_.send ('u', "b", 1); - else - proto_.send ('u', "b", 0); -} - /// Set frequency of jack, selectoul printed out function void Es::setOthersStat (int freq) @@ -141,11 +129,11 @@ Es::setOthersStat (int freq) proto_.send ('O', "b", freq); } -// Discute avec les servo... -void Es::setServoPos (int servo_mask, int servoPos) -{ - proto_.send ('m', "bb", servo_mask, servoPos); -} + + + + + /// Set update frequency of sharps void @@ -188,7 +176,7 @@ Es::lcdGetKey (int freq) void Es::receive(char command, const Proto::Frame & frame) { - int errCode, red, blue, clear, green, compt, value; + int errCode, clear, compt, value; int stat1, stat2, stat3, stat4; switch (command) @@ -242,6 +230,22 @@ void Es::receive(char command, const Proto::Frame & frame) sharps_[compt] = value; } break; + } +} + +//Activation du truk ki monte et descend. +void +Es::bouge_ascenceur(int sens,uint8_t vit,uint8_t tps) +{ + if (sens == UP) + { + proto_.send('a',"bbb",vit,tps,0x01); + } + if (sens == DOWN) + { + proto_.send('a',"bbb",vit,tps,0x00); } + //faire un static pour savoir la dernière commande. + //permettra de faire l'inverse en automatique. } -- cgit v1.2.3