Classes et code de la partie pompe du Robot 2021
Dependencies: mbed ident_crac
bloc_monopompe.cpp@0:253443d82cba, 2021-01-15 (annotated)
- Committer:
- goldmas
- Date:
- Fri Jan 15 07:36:28 2021 +0000
- Revision:
- 0:253443d82cba
- Child:
- 4:4bae30d48662
Code pour les pompes Coupe de France de robotique 2021
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
goldmas | 0:253443d82cba | 1 | #include "bloc_monopompe.h" |
goldmas | 0:253443d82cba | 2 | |
goldmas | 0:253443d82cba | 3 | bloc_monopompe::bloc_monopompe (PinName pompe, PinName electrovanne, PinName capteur) |
goldmas | 0:253443d82cba | 4 | : _pompe(pompe), _electrovanne(electrovanne), _capteur(capteur) |
goldmas | 0:253443d82cba | 5 | { |
goldmas | 0:253443d82cba | 6 | _pompe.period_us(20) ; |
goldmas | 0:253443d82cba | 7 | } |
goldmas | 0:253443d82cba | 8 | |
goldmas | 0:253443d82cba | 9 | bool bloc_monopompe::aspirer (void) |
goldmas | 0:253443d82cba | 10 | { |
goldmas | 0:253443d82cba | 11 | _pompe = PWM_POMPE ; |
goldmas | 0:253443d82cba | 12 | _electrovanne = ELEC_OUVERTE ; |
goldmas | 0:253443d82cba | 13 | wait_ms(100) ; |
goldmas | 0:253443d82cba | 14 | |
goldmas | 0:253443d82cba | 15 | if(_capteur.read() >= SEUIL_CPT) |
goldmas | 0:253443d82cba | 16 | { |
goldmas | 0:253443d82cba | 17 | _electrovanne = ELEC_FERME ; |
goldmas | 0:253443d82cba | 18 | wait_ms(100) ; |
goldmas | 0:253443d82cba | 19 | if(_capteur.read() >= SEUIL_CPT) |
goldmas | 0:253443d82cba | 20 | { |
goldmas | 0:253443d82cba | 21 | _pompe = 0 ; |
goldmas | 0:253443d82cba | 22 | _gobelet_en_place = 1 ; |
goldmas | 0:253443d82cba | 23 | } |
goldmas | 0:253443d82cba | 24 | else |
goldmas | 0:253443d82cba | 25 | { |
goldmas | 0:253443d82cba | 26 | _electrovanne = ELEC_OUVERTE ; |
goldmas | 0:253443d82cba | 27 | _gobelet_en_place = 0 ; |
goldmas | 0:253443d82cba | 28 | } |
goldmas | 0:253443d82cba | 29 | return _gobelet_en_place ; |
goldmas | 0:253443d82cba | 30 | } |
goldmas | 0:253443d82cba | 31 | |
goldmas | 0:253443d82cba | 32 | } |
goldmas | 0:253443d82cba | 33 | |
goldmas | 0:253443d82cba | 34 | bool bloc_monopompe::relacher (void) |
goldmas | 0:253443d82cba | 35 | { |
goldmas | 0:253443d82cba | 36 | _electrovanne = ELEC_OUVERTE ; |
goldmas | 0:253443d82cba | 37 | wait_ms(100) ; |
goldmas | 0:253443d82cba | 38 | if(_capteur.read() >= SEUIL_CPT) |
goldmas | 0:253443d82cba | 39 | _gobelet_en_place = 1 ; |
goldmas | 0:253443d82cba | 40 | else |
goldmas | 0:253443d82cba | 41 | _gobelet_en_place = 0 ; |
goldmas | 0:253443d82cba | 42 | |
goldmas | 0:253443d82cba | 43 | return _gobelet_en_place ; |
goldmas | 0:253443d82cba | 44 | } |
goldmas | 0:253443d82cba | 45 | |
goldmas | 0:253443d82cba | 46 | bool bloc_monopompe::possession (void) |
goldmas | 0:253443d82cba | 47 | { |
goldmas | 0:253443d82cba | 48 | if(_capteur.read() >= SEUIL_CPT) |
goldmas | 0:253443d82cba | 49 | _gobelet_en_place = 1 ; |
goldmas | 0:253443d82cba | 50 | else |
goldmas | 0:253443d82cba | 51 | _gobelet_en_place = 0 ; |
goldmas | 0:253443d82cba | 52 | |
goldmas | 0:253443d82cba | 53 | return _gobelet_en_place ; |
goldmas | 0:253443d82cba | 54 | } |