diff --git a/simulation/qtcreator-files/paprikaSimulateur/paprikaSimulateur.pro b/simulation/qtcreator-files/paprikaSimulateur/paprikaSimulateur.pro
index f275f31abdc625e535c3fd25ffb4a3a931fd5969..0fe5aa404957f244d0450faf2a3ac1d62a20e92a 100644
--- a/simulation/qtcreator-files/paprikaSimulateur/paprikaSimulateur.pro
+++ b/simulation/qtcreator-files/paprikaSimulateur/paprikaSimulateur.pro
@@ -104,7 +104,8 @@ HEADERS += \
../../include/initialisation.h \
../../include/vector.h \
../../include/strategie/krabijunior2016.h \
- ../../include/strategie/krabi2016.h
+ ../../include/strategie/krabi2016.h \
+ ../../stm32/include/actionneurs/fishingNet.h
SOURCES += \
@@ -183,7 +184,8 @@ SOURCES += \
../../src/strategie/krabijunior2016.cpp \
../../src/strategie/krabi2016.cpp \
../../src/strategie/cabine.cpp \
- ../../src/strategie/zoneConstruction.cpp
+ ../../src/strategie/zoneConstruction.cpp \
+ ../../src/actionneurs/fishingNet.cpp
FORMS += \
../../include/simul/remotedebug.ui \
diff --git a/stm32/include/actionneurs/fishingNet.h b/stm32/include/actionneurs/fishingNet.h
new file mode 100644
index 0000000000000000000000000000000000000000..62cf10cb159c7519ffad56ac9db46c1b9e623e4a
--- /dev/null
+++ b/stm32/include/actionneurs/fishingNet.h
@@ -0,0 +1,45 @@
+#ifndef FICHINGNET_H
+#define FICHINGNET_H
+
+class FishingNet
+{
+ static const int SERVO_INT_ID = 0; // To update
+ static const int SERVO_EXT_ID = 1;
+
+ static const int SERVO_EXT_CLOSED_POS = 0x00;
+ static const int SERVO_EXT_DEPLOYED_POS = 0x00;
+ static const int SERVO_EXT_RAISED_POS = 0x00;
+
+ static const int SERVO_INT_RAISED_POS = 0x00;
+ static const int SERVO_INT_LOWERED_POS = 0x00;
+
+ public:
+ FishingNet();
+
+ enum NET_STATE
+ {
+ CLOSED,
+ OPENED,
+ RAISED,
+ NET_LOWERED
+ };
+
+ static FishingNet* getSingleton();
+
+ void close();
+ void deploy();
+
+ void lowerNet();
+ void raiseNet();
+
+ void raiseArm();
+
+ private:
+
+ void moveArm(int destAngle);
+ void rotateArm(int destAngle);
+
+ NET_STATE m_currentState;
+};
+
+#endif
diff --git a/stm32/paprika_krabi_h107.cbp b/stm32/paprika_krabi_h107.cbp
index cdddd4987c1ef68f24f0df79563191ec5252f634..2ef58317feccf69ac72f4dc18cccca57ab288117 100644
--- a/stm32/paprika_krabi_h107.cbp
+++ b/stm32/paprika_krabi_h107.cbp
@@ -75,6 +75,8 @@
+
+
@@ -134,6 +136,7 @@
+
@@ -144,6 +147,7 @@
+
@@ -209,6 +213,7 @@
+