fix strat ascenseur

robot/code/robot/modes/blue/blue_speed_up.py

@@ -153,7 +153,7 @@ class DemoSquareRobot(Robot):
         sendI2CData(OUVRE_PINCES_PLANTES_GRP3)
         time.sleep(0.25) # attente mouvement servos
 
-        sendI2CData(OUVRE_PINCES_POTS_GRP3)
+        sendI2CData(OUVRE_PINCES_PLANTES_GRP1)
         time.sleep(0.25) # attente mouvement servos
         
         # récupère les 3 plantes de la deuxième zone de plante
@@ -166,11 +166,11 @@ class DemoSquareRobot(Robot):
         target_position = pl.PointImage(800, 1200)  # in mm
         self.base.doMovement(target_position, target_angle)
 
-        sendI2CData(FERME_PINCES_PLANTES_GRP3)
-        time.sleep(0.25) # attente mouvement servos
-
         sendI2CData(OUVRE_PINCES_POTS_GRP3)
         time.sleep(0.25) # attente mouvement servos
+        
+        sendI2CData(FERME_PINCES_PLANTES_GRP3)
+        time.sleep(0.25) # attente mouvement servos
 
         sendI2CData(MONTE_ASCENSEUR_GRP3)
         time.sleep(0.25) # attente mouvement servos
@@ -185,7 +185,7 @@ class DemoSquareRobot(Robot):
         target_position = pl.PointImage(220, 1430)  # in mm
         self.base.doMovement(target_position, target_angle)
 
-        sendI2CData(FERME_PINCES_POTS_GRP3)
+        sendI2CData(SERRE_POTS_PINCES_POTS_GRP3)
         time.sleep(0.25) # attente mouvement servos
 
         target_position = pl.PointImage(350, 1430)  # in mm
@@ -209,8 +209,8 @@ class DemoSquareRobot(Robot):
         sendI2CData(AVANCE_POUSSE_POUSSE)
         time.sleep(0.25) # attente mouvement servos
 
-        self.__setattr__(self.max_speed_base,600)
-        self.__setattr__(self.acceleration_base,150)
+        # self.__setattr__(self.max_speed_base,600)
+        # self.__setattr__(self.acceleration_base,150)
 
         target_position = pl.PointImage(1900, 1950)  # in mm
         self.base.doMovement(target_position, target_angle)