CRAC Team / Mbed 2 deprecated Bloc_Pompe

Classes et code de la partie pompe du Robot 2021

Dependencies:   mbed ident_crac

bloc_8_pompe.cpp@5:88ab89ab12ad, 2021-01-19 (annotated)

Committer:
smarecar
Date:
Tue Jan 19 07:11:38 2021 +0000
Revision:
5:88ab89ab12ad
Parent:
4:4bae30d48662 
+com

Who changed what in which revision?

UserRevisionLine numberNew contents of line
goldmas 0:253443d82cba 1 #include "bloc_8_pompe.h"
goldmas 0:253443d82cba 2
smarecar 5:88ab89ab12ad 3 bloc_monopompe bloc1(PC_9, PA_8, PB_0) ; //affectation des pins de chaque bloc individuel (pompe_1 + electrovanne_1 + capteur de pression_1 )
goldmas 0:253443d82cba 4 bloc_monopompe bloc2(PA_9, PA_10, PB_1) ;
goldmas 0:253443d82cba 5 bloc_monopompe bloc3(PA_11, PA_15, PC_1) ;
goldmas 0:253443d82cba 6 bloc_monopompe bloc4(PB_7, PB_6, PC_0) ;
goldmas 0:253443d82cba 7 bloc_monopompe bloc5(PC_7, PC_8, PC_5) ;
goldmas 0:253443d82cba 8 bloc_monopompe bloc6(PB_10, PB_2, PC_4) ;
goldmas 0:253443d82cba 9 bloc_monopompe bloc7(PA_6, PA_5, PA_7) ;
goldmas 0:253443d82cba 10 bloc_monopompe bloc8(PA_0, PA_1, PA_4) ;
goldmas 0:253443d82cba 11
goldmas 0:253443d82cba 12
smarecar 5:88ab89ab12ad 13 bloc_8_pompe::bloc_8_pompe (PinName pompe1, PinName electrovanne1, PinName capteur1, // creation du constructeur bloc_8_pompe qui regroupe la classe du bloc_monopompe
goldmas 0:253443d82cba 14 PinName pompe2, PinName electrovanne2, PinName capteur2,
goldmas 0:253443d82cba 15 PinName pompe3, PinName electrovanne3, PinName capteur3,
goldmas 0:253443d82cba 16 PinName pompe4, PinName electrovanne4, PinName capteur4,
goldmas 0:253443d82cba 17 PinName pompe5, PinName electrovanne5, PinName capteur5,
goldmas 0:253443d82cba 18 PinName pompe6, PinName electrovanne6, PinName capteur6,
goldmas 0:253443d82cba 19 PinName pompe7, PinName electrovanne7, PinName capteur7,
goldmas 0:253443d82cba 20 PinName pompe8, PinName electrovanne8, PinName capteur8)
goldmas 0:253443d82cba 21 : _pompe1 (pompe1), _electrovanne1 (electrovanne1), _capteur1 (capteur1),
goldmas 0:253443d82cba 22 _pompe2 (pompe2), _electrovanne2 (electrovanne2), _capteur2 (capteur2),
goldmas 0:253443d82cba 23 _pompe3 (pompe3), _electrovanne3 (electrovanne3), _capteur3 (capteur3),
goldmas 0:253443d82cba 24 _pompe4 (pompe4), _electrovanne4 (electrovanne4), _capteur4 (capteur4),
goldmas 0:253443d82cba 25 _pompe5 (pompe5), _electrovanne5 (electrovanne5), _capteur5 (capteur5),
goldmas 0:253443d82cba 26 _pompe6 (pompe6), _electrovanne6 (electrovanne6), _capteur6 (capteur6),
goldmas 0:253443d82cba 27 _pompe7 (pompe7), _electrovanne7 (electrovanne7), _capteur7 (capteur7),
goldmas 0:253443d82cba 28 _pompe8 (pompe8), _electrovanne8 (electrovanne8), _capteur8 (capteur8)
goldmas 0:253443d82cba 29 {
smarecar 5:88ab89ab12ad 30 _pompe1.period_us(20) ; // definition des periodes des PWM des pompes
goldmas 0:253443d82cba 31 _pompe2.period_us(20) ;
goldmas 0:253443d82cba 32 _pompe3.period_us(20) ;
goldmas 0:253443d82cba 33 _pompe4.period_us(20) ;
goldmas 0:253443d82cba 34 _pompe5.period_us(20) ;
goldmas 0:253443d82cba 35 _pompe6.period_us(20) ;
goldmas 0:253443d82cba 36 _pompe7.period_us(20) ;
goldmas 0:253443d82cba 37 _pompe8.period_us(20) ;
goldmas 0:253443d82cba 38 }
goldmas 0:253443d82cba 39
smarecar 5:88ab89ab12ad 40 void bloc_8_pompe::aspirer (int groupe = 1) // fonction aspirer general qui gere la gestion des differents blocs a l'aide de switch case
goldmas 0:253443d82cba 41 {
goldmas 0:253443d82cba 42 switch (groupe)
goldmas 0:253443d82cba 43 {
goldmas 0:253443d82cba 44 case 1 :
goldmas 4:4bae30d48662 45 bloc1.aspirer() ;
goldmas 0:253443d82cba 46 break;
goldmas 0:253443d82cba 47
goldmas 0:253443d82cba 48 case 2 :
goldmas 4:4bae30d48662 49 bloc2.aspirer() ;
goldmas 0:253443d82cba 50 break;
goldmas 0:253443d82cba 51
goldmas 0:253443d82cba 52 case 3 :
goldmas 4:4bae30d48662 53 bloc3.aspirer() ;
goldmas 0:253443d82cba 54 break;
goldmas 0:253443d82cba 55
goldmas 0:253443d82cba 56 case 4 :
goldmas 4:4bae30d48662 57 bloc4.aspirer() ;
goldmas 0:253443d82cba 58 break;
goldmas 0:253443d82cba 59
goldmas 0:253443d82cba 60 case 5 :
goldmas 4:4bae30d48662 61 bloc5.aspirer() ;
goldmas 0:253443d82cba 62 break;
goldmas 0:253443d82cba 63
goldmas 0:253443d82cba 64 case 6 :
goldmas 4:4bae30d48662 65 bloc6.aspirer() ;
goldmas 0:253443d82cba 66 break;
goldmas 0:253443d82cba 67
goldmas 0:253443d82cba 68 case 7 :
goldmas 4:4bae30d48662 69 bloc7.aspirer() ;
goldmas 0:253443d82cba 70 break;
goldmas 0:253443d82cba 71
goldmas 0:253443d82cba 72 case 8 :
goldmas 4:4bae30d48662 73 bloc8.aspirer() ;
goldmas 0:253443d82cba 74 break;
goldmas 0:253443d82cba 75 }
goldmas 0:253443d82cba 76 }
goldmas 0:253443d82cba 77
smarecar 5:88ab89ab12ad 78 void bloc_8_pompe::relacher (int groupe = 1) // fonction relacher general qui gere la gestion des differents blocs a l'aide de switch
goldmas 0:253443d82cba 79 {
goldmas 0:253443d82cba 80 switch (groupe)
goldmas 0:253443d82cba 81 {
goldmas 0:253443d82cba 82 case 1 :
goldmas 4:4bae30d48662 83 bloc1.relacher() ;
goldmas 0:253443d82cba 84 break;
goldmas 0:253443d82cba 85
goldmas 0:253443d82cba 86 case 2 :
goldmas 4:4bae30d48662 87 bloc2.relacher() ;
goldmas 0:253443d82cba 88 break;
goldmas 0:253443d82cba 89
goldmas 0:253443d82cba 90 case 3 :
goldmas 4:4bae30d48662 91 bloc3.relacher() ;
goldmas 0:253443d82cba 92 break;
goldmas 0:253443d82cba 93
goldmas 0:253443d82cba 94 case 4 :
goldmas 4:4bae30d48662 95 bloc4.relacher() ;
goldmas 0:253443d82cba 96 break;
goldmas 0:253443d82cba 97
goldmas 0:253443d82cba 98 case 5 :
goldmas 4:4bae30d48662 99 bloc5.relacher() ;
goldmas 0:253443d82cba 100 break;
goldmas 0:253443d82cba 101
goldmas 0:253443d82cba 102 case 6 :
goldmas 4:4bae30d48662 103 bloc6.relacher() ;
goldmas 0:253443d82cba 104 break;
goldmas 0:253443d82cba 105
goldmas 0:253443d82cba 106 case 7 :
goldmas 4:4bae30d48662 107 bloc7.relacher() ;
goldmas 0:253443d82cba 108 break;
goldmas 0:253443d82cba 109
goldmas 0:253443d82cba 110 case 8 :
goldmas 4:4bae30d48662 111 bloc8.relacher() ;
goldmas 0:253443d82cba 112 break;
goldmas 0:253443d82cba 113 }
goldmas 4:4bae30d48662 114 }
smarecar 5:88ab89ab12ad 115 char bloc_8_pompe::etat_actuel (int groupe = 1) // fonction qui retourne dans un tableau l'etat de chaque element (pompe et electrovanne active ou non,
smarecar 5:88ab89ab12ad 116 char etat_groupe[8] ; // et si le capteur de pression capte qql chose ou non
goldmas 4:4bae30d48662 117
goldmas 4:4bae30d48662 118 switch (groupe)
goldmas 4:4bae30d48662 119 {
goldmas 4:4bae30d48662 120 case 1 :
goldmas 4:4bae30d48662 121 etat_groupe[groupe-1] = bloc1.etat_actuel() ;
goldmas 4:4bae30d48662 122 break;
goldmas 4:4bae30d48662 123
goldmas 4:4bae30d48662 124 case 2 :
goldmas 4:4bae30d48662 125 etat_groupe[groupe-1] = bloc2.etat_actuel() ;
goldmas 4:4bae30d48662 126 break;
goldmas 4:4bae30d48662 127
goldmas 4:4bae30d48662 128 case 3 :
goldmas 4:4bae30d48662 129 etat_groupe[groupe-1] = bloc3.etat_actuel() ;
goldmas 4:4bae30d48662 130 break;
goldmas 4:4bae30d48662 131
goldmas 4:4bae30d48662 132 case 4 :
goldmas 4:4bae30d48662 133 etat_groupe[groupe-1] = bloc4.etat_actuel() ;
goldmas 4:4bae30d48662 134 break;
goldmas 4:4bae30d48662 135
goldmas 4:4bae30d48662 136 case 5 :
goldmas 4:4bae30d48662 137 etat_groupe[groupe-1] = bloc5.etat_actuel() ;
goldmas 4:4bae30d48662 138 break;
goldmas 4:4bae30d48662 139
goldmas 4:4bae30d48662 140 case 6 :
goldmas 4:4bae30d48662 141 etat_groupe[groupe-1] = bloc6.etat_actuel() ;
goldmas 4:4bae30d48662 142 break;
goldmas 4:4bae30d48662 143
goldmas 4:4bae30d48662 144 case 7 :
goldmas 4:4bae30d48662 145 etat_groupe[groupe-1] = bloc7.etat_actuel() ;
goldmas 4:4bae30d48662 146 break;
goldmas 4:4bae30d48662 147
goldmas 4:4bae30d48662 148 case 8 :
goldmas 4:4bae30d48662 149 etat_groupe[groupe-1] = bloc8.etat_actuel() ;
goldmas 4:4bae30d48662 150 break;
goldmas 4:4bae30d48662 151 }
goldmas 4:4bae30d48662 152 return etat_groupe[groupe-1] ;
goldmas 0:253443d82cba 153 }
goldmas 0:253443d82cba 154
smarecar 5:88ab89ab12ad 155 void bloc_8_pompe::stop_pompe (int groupe = 1) // fonction qui arrete toutes les pompes
goldmas 0:253443d82cba 156 {
goldmas 0:253443d82cba 157 switch (groupe)
goldmas 0:253443d82cba 158 {
goldmas 0:253443d82cba 159 case 1 :
goldmas 4:4bae30d48662 160 bloc1.stop_pompe() ;
goldmas 0:253443d82cba 161 break;
goldmas 0:253443d82cba 162
goldmas 0:253443d82cba 163 case 2 :
goldmas 4:4bae30d48662 164 bloc2.stop_pompe() ;
goldmas 0:253443d82cba 165 break;
goldmas 0:253443d82cba 166
goldmas 0:253443d82cba 167 case 3 :
goldmas 4:4bae30d48662 168 bloc3.stop_pompe() ;
goldmas 0:253443d82cba 169 break;
goldmas 0:253443d82cba 170
goldmas 0:253443d82cba 171 case 4 :
goldmas 4:4bae30d48662 172 bloc4.stop_pompe() ;
goldmas 0:253443d82cba 173 break;
goldmas 0:253443d82cba 174
goldmas 0:253443d82cba 175 case 5 :
goldmas 4:4bae30d48662 176 bloc5.stop_pompe() ;
goldmas 0:253443d82cba 177 break;
goldmas 0:253443d82cba 178
goldmas 0:253443d82cba 179 case 6 :
goldmas 4:4bae30d48662 180 bloc6.stop_pompe() ;
goldmas 0:253443d82cba 181 break;
goldmas 0:253443d82cba 182
goldmas 0:253443d82cba 183 case 7 :
goldmas 4:4bae30d48662 184 bloc7.stop_pompe() ;
goldmas 0:253443d82cba 185 break;
goldmas 0:253443d82cba 186
goldmas 0:253443d82cba 187 case 8 :
goldmas 4:4bae30d48662 188 bloc8.stop_pompe() ;
goldmas 0:253443d82cba 189 break;
goldmas 0:253443d82cba 190 }
goldmas 4:4bae30d48662 191 }