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feat: add j3,j4,j5

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Leonetienne
2026-02-10 20:53:35 +01:00
parent 072875fde7
commit b92a0ca214
2 changed files with 52 additions and 13 deletions
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MainLoop.cpp
+51 -12
View File
@@ -27,22 +27,61 @@ MainLoop::MainLoop() noexcept:
-38.0,
85.0,
180.0,
50,
0,
172,
565
),
AdafruitServoMotor(
pwmBoard,
2,
1.0,
1.0,
123.0,
-123.0,
57.0,
180.0,
-123,
172,
565
2, // index
1.0, // gearbox
1.0, // scale calibration
40.0, // zero offset
-90.0, // min
90.0, // max
180.0, // spec range
0, // initial pos
172, // min pulse
565 // max pulse
),
AdafruitServoMotor(
pwmBoard,
3, // index
1.0, // gearbox
1.0, // scale calibration
90.0, // zero offset
-90.0, // min
90.0, // max
180.0, // spec range
0, // initial pos
80, // min pulse
600 // max pulse
),
AdafruitServoMotor(
pwmBoard,
4, // index
1.0, // gearbox
1.0, // scale calibration
90.0, // zero offset
-90.0, // min
90.0, // max
180.0, // spec range
0, // initial pos
80, // min pulse
600 // max pulse
),
AdafruitServoMotor(
pwmBoard,
5, // index
1.0, // gearbox
1.0, // scale calibration
90.0, // zero offset
-90.0, // min
90.0, // max
180.0, // spec range
0, // initial pos
80, // min pulse
600 // max pulse
),
})
{
@@ -65,7 +104,7 @@ MainLoop& MainLoop::getInstance() noexcept
void MainLoop::setup() noexcept
{
UartHandler::getInstance().init(9600);
for (uint8_t i = 0; i < 3; i++) {
for (uint8_t i = 0; i < 5; i++) {
motors[i].commitMoveImmediately();
}
MainLoop.hpp
+1 -1
View File
@@ -20,5 +20,5 @@ class MainLoop
~MainLoop() noexcept;
AdafruitPWMBoard pwmBoard;
AdafruitServoMotor motors[3];
AdafruitServoMotor motors[6];
};