CRAC Team
carte esclave pompe 2020 V1
Dependencies: mbed ident_crac
class_ventouse.cpp@12:2491a5b0f90b, 2019-05-23 (annotated)
- Committer:
- kyxstark
- Date:
- Thu May 23 08:41:01 2019 +0000
- Revision:
- 12:2491a5b0f90b
- Parent:
- 10:765b4ff6d721
- Child:
- 16:5e00af31ae8a
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| marwanesaich | 0:84a8c24e29ae | 1 | #include "class_ventouse.h" |
| marwanesaich | 0:84a8c24e29ae | 2 | |
| kyxstark | 8:a25a9c22ba91 | 3 | #ifdef ROBOT_SMALL |
| kyxstark | 8:a25a9c22ba91 | 4 | float seuil[NB_VENTOUSES] = {0.10, 0.3, 0.3, 0.3, 0.10, 0.3, 0.3, 0.3}; |
| kyxstark | 10:765b4ff6d721 | 5 | #define PWM_POMPE 0.7 |
| kyxstark | 8:a25a9c22ba91 | 6 | #endif |
| kyxstark | 8:a25a9c22ba91 | 7 | |
| kyxstark | 8:a25a9c22ba91 | 8 | #ifdef ROBOT_BIG |
| kyxstark | 8:a25a9c22ba91 | 9 | float seuil[NB_VENTOUSES] = {0.3, 0.3, 0.3}; |
| kyxstark | 10:765b4ff6d721 | 10 | #define PWM_POMPE 1.0 |
| kyxstark | 8:a25a9c22ba91 | 11 | #endif |
| marwanesaich | 0:84a8c24e29ae | 12 | |
| marwanesaich | 0:84a8c24e29ae | 13 | |
| marwanesaich | 5:176e7353ba1c | 14 | Ventouse::Ventouse(PinName pinPompe, PinName pinCapteurPression, char index) : m_pinPompe(pinPompe), |
| marwanesaich | 5:176e7353ba1c | 15 | m_pinCapteurPression(pinCapteurPression), m_index(index) |
| marwanesaich | 5:176e7353ba1c | 16 | { |
| marwanesaich | 5:176e7353ba1c | 17 | m_pompe = new PwmOut(m_pinPompe); |
| marwanesaich | 5:176e7353ba1c | 18 | m_pression = new AnalogIn(m_pinCapteurPression); |
| marwanesaich | 5:176e7353ba1c | 19 | |
| marwanesaich | 5:176e7353ba1c | 20 | m_pompe->period_us(50); |
| marwanesaich | 5:176e7353ba1c | 21 | |
| marwanesaich | 5:176e7353ba1c | 22 | m_pompe->write(0); |
| marwanesaich | 5:176e7353ba1c | 23 | |
| marwanesaich | 5:176e7353ba1c | 24 | flag_attraper = 0; |
| marwanesaich | 5:176e7353ba1c | 25 | flag_relacher = 0; |
| marwanesaich | 5:176e7353ba1c | 26 | |
| marwanesaich | 5:176e7353ba1c | 27 | etat = Attente; |
| marwanesaich | 5:176e7353ba1c | 28 | m_ack = 0; |
| marwanesaich | 5:176e7353ba1c | 29 | flag_electrovanne = 0; |
| marwanesaich | 5:176e7353ba1c | 30 | } |
| marwanesaich | 5:176e7353ba1c | 31 | |
| marwanesaich | 5:176e7353ba1c | 32 | |
| marwanesaich | 2:4cc8fa2f64be | 33 | Ventouse::Ventouse(PinName pinPompe, PinName pinElectrovanne, PinName pinCapteurPression, char index) : m_pinPompe(pinPompe), |
| marwanesaich | 2:4cc8fa2f64be | 34 | m_pinElectrovanne(pinElectrovanne), m_pinCapteurPression(pinCapteurPression), m_index(index) |
| marwanesaich | 0:84a8c24e29ae | 35 | { |
| marwanesaich | 0:84a8c24e29ae | 36 | m_pompe = new PwmOut(m_pinPompe); |
| kyxstark | 8:a25a9c22ba91 | 37 | m_electrovanne = new DigitalOut(m_pinElectrovanne); |
| marwanesaich | 0:84a8c24e29ae | 38 | m_pression = new AnalogIn(m_pinCapteurPression); |
| marwanesaich | 0:84a8c24e29ae | 39 | |
| marwanesaich | 0:84a8c24e29ae | 40 | m_pompe->period_us(50); |
| kyxstark | 8:a25a9c22ba91 | 41 | //m_electrovanne->period_us(50); |
| marwanesaich | 0:84a8c24e29ae | 42 | |
| marwanesaich | 0:84a8c24e29ae | 43 | m_pompe->write(0); |
| marwanesaich | 0:84a8c24e29ae | 44 | m_electrovanne->write(0); |
| marwanesaich | 2:4cc8fa2f64be | 45 | |
| marwanesaich | 2:4cc8fa2f64be | 46 | flag_attraper = 0; |
| marwanesaich | 2:4cc8fa2f64be | 47 | flag_relacher = 0; |
| marwanesaich | 2:4cc8fa2f64be | 48 | |
| marwanesaich | 2:4cc8fa2f64be | 49 | etat = Attente; |
| marwanesaich | 2:4cc8fa2f64be | 50 | m_ack = 0; |
| marwanesaich | 5:176e7353ba1c | 51 | flag_electrovanne = 1; |
| marwanesaich | 2:4cc8fa2f64be | 52 | } |
| marwanesaich | 2:4cc8fa2f64be | 53 | |
| marwanesaich | 2:4cc8fa2f64be | 54 | void Ventouse::automate() |
| marwanesaich | 2:4cc8fa2f64be | 55 | { |
| marwanesaich | 2:4cc8fa2f64be | 56 | switch(etat) |
| marwanesaich | 2:4cc8fa2f64be | 57 | { |
| marwanesaich | 2:4cc8fa2f64be | 58 | case Attente : |
| marwanesaich | 2:4cc8fa2f64be | 59 | if(flag_attraper) |
| marwanesaich | 2:4cc8fa2f64be | 60 | { |
| marwanesaich | 2:4cc8fa2f64be | 61 | attraper(); |
| marwanesaich | 2:4cc8fa2f64be | 62 | etat = Attraper; |
| marwanesaich | 2:4cc8fa2f64be | 63 | } |
| marwanesaich | 2:4cc8fa2f64be | 64 | break; |
| marwanesaich | 2:4cc8fa2f64be | 65 | |
| marwanesaich | 2:4cc8fa2f64be | 66 | case Attraper : |
| marwanesaich | 6:fda992188a2f | 67 | wait_ms(10.0); |
| marwanesaich | 7:43d9c70b6689 | 68 | if(getPression()==1) |
| marwanesaich | 4:82c90657da4a | 69 | { |
| marwanesaich | 4:82c90657da4a | 70 | can.write(CANMessage(HACHEUR_GET_ATOM_ACK,&m_index,1)); |
| marwanesaich | 2:4cc8fa2f64be | 71 | etat = Attraper_ok; |
| marwanesaich | 2:4cc8fa2f64be | 72 | }else if(flag_relacher) |
| marwanesaich | 2:4cc8fa2f64be | 73 | { |
| marwanesaich | 2:4cc8fa2f64be | 74 | relacher(); |
| marwanesaich | 2:4cc8fa2f64be | 75 | etat = Relacher; |
| marwanesaich | 2:4cc8fa2f64be | 76 | } |
| marwanesaich | 2:4cc8fa2f64be | 77 | break; |
| marwanesaich | 2:4cc8fa2f64be | 78 | |
| marwanesaich | 2:4cc8fa2f64be | 79 | case Attraper_ok : |
| marwanesaich | 2:4cc8fa2f64be | 80 | if(flag_relacher) |
| marwanesaich | 2:4cc8fa2f64be | 81 | { |
| marwanesaich | 2:4cc8fa2f64be | 82 | relacher(); |
| marwanesaich | 2:4cc8fa2f64be | 83 | etat = Relacher; |
| marwanesaich | 2:4cc8fa2f64be | 84 | } |
| marwanesaich | 2:4cc8fa2f64be | 85 | break; |
| marwanesaich | 2:4cc8fa2f64be | 86 | |
| marwanesaich | 2:4cc8fa2f64be | 87 | case Relacher : |
| marwanesaich | 7:43d9c70b6689 | 88 | wait_ms(10.0); |
| marwanesaich | 7:43d9c70b6689 | 89 | if(getPression() == 0) |
| marwanesaich | 2:4cc8fa2f64be | 90 | { |
| marwanesaich | 4:82c90657da4a | 91 | can.write(CANMessage(HACHEUR_RELEASE_ATOM_ACK,&m_index,1)); |
| kyxstark | 8:a25a9c22ba91 | 92 | if(flag_electrovanne) m_electrovanne->write(0); |
| marwanesaich | 2:4cc8fa2f64be | 93 | etat = Attente; |
| marwanesaich | 2:4cc8fa2f64be | 94 | } |
| marwanesaich | 2:4cc8fa2f64be | 95 | break; |
| marwanesaich | 2:4cc8fa2f64be | 96 | |
| marwanesaich | 2:4cc8fa2f64be | 97 | } |
| marwanesaich | 2:4cc8fa2f64be | 98 | } |
| marwanesaich | 2:4cc8fa2f64be | 99 | |
| marwanesaich | 2:4cc8fa2f64be | 100 | |
| marwanesaich | 2:4cc8fa2f64be | 101 | void Ventouse::action(bool action) |
| marwanesaich | 2:4cc8fa2f64be | 102 | { |
| marwanesaich | 2:4cc8fa2f64be | 103 | flag_attraper = action; |
| marwanesaich | 2:4cc8fa2f64be | 104 | flag_relacher = !action; |
| marwanesaich | 0:84a8c24e29ae | 105 | } |
| marwanesaich | 0:84a8c24e29ae | 106 | |
| marwanesaich | 0:84a8c24e29ae | 107 | void Ventouse::attraper() |
| marwanesaich | 0:84a8c24e29ae | 108 | { |
| kyxstark | 10:765b4ff6d721 | 109 | m_pompe->write(PWM_POMPE); |
| kyxstark | 8:a25a9c22ba91 | 110 | if(flag_electrovanne) m_electrovanne->write(0); |
| marwanesaich | 0:84a8c24e29ae | 111 | |
| marwanesaich | 0:84a8c24e29ae | 112 | } |
| marwanesaich | 0:84a8c24e29ae | 113 | |
| marwanesaich | 0:84a8c24e29ae | 114 | void Ventouse::relacher() |
| marwanesaich | 0:84a8c24e29ae | 115 | { |
| marwanesaich | 0:84a8c24e29ae | 116 | m_pompe->write(0.0); |
| kyxstark | 8:a25a9c22ba91 | 117 | if(flag_electrovanne) m_electrovanne->write(1); |
| marwanesaich | 7:43d9c70b6689 | 118 | wait_ms(300.0); |
| marwanesaich | 0:84a8c24e29ae | 119 | |
| marwanesaich | 0:84a8c24e29ae | 120 | } |
| marwanesaich | 0:84a8c24e29ae | 121 | |
| marwanesaich | 2:4cc8fa2f64be | 122 | bool Ventouse::getPression() |
| marwanesaich | 6:fda992188a2f | 123 | { |
| marwanesaich | 7:43d9c70b6689 | 124 | printf("capteur %d : %f\n", m_index, m_pression->read()); |
| marwanesaich | 6:fda992188a2f | 125 | if(m_pression->read() > seuil[m_index]){ |
| marwanesaich | 0:84a8c24e29ae | 126 | return 1; |
| marwanesaich | 0:84a8c24e29ae | 127 | } |
| marwanesaich | 0:84a8c24e29ae | 128 | else{ |
| marwanesaich | 0:84a8c24e29ae | 129 | return 0; |
| marwanesaich | 0:84a8c24e29ae | 130 | } |
| marwanesaich | 0:84a8c24e29ae | 131 | |
| marwanesaich | 0:84a8c24e29ae | 132 | } |
| marwanesaich | 0:84a8c24e29ae | 133 | |
| marwanesaich | 2:4cc8fa2f64be | 134 | bool Ventouse::getPompe() |
| marwanesaich | 0:84a8c24e29ae | 135 | { |
| marwanesaich | 0:84a8c24e29ae | 136 | if(m_pompe->read() > 0){ |
| marwanesaich | 0:84a8c24e29ae | 137 | return 1; |
| marwanesaich | 0:84a8c24e29ae | 138 | } |
| marwanesaich | 0:84a8c24e29ae | 139 | else{ |
| marwanesaich | 0:84a8c24e29ae | 140 | return 0; |
| marwanesaich | 0:84a8c24e29ae | 141 | } |
| marwanesaich | 0:84a8c24e29ae | 142 | } |
| marwanesaich | 0:84a8c24e29ae | 143 | |
| marwanesaich | 0:84a8c24e29ae | 144 | void Ventouse::setPompe(float val) |
| marwanesaich | 0:84a8c24e29ae | 145 | { |
| marwanesaich | 0:84a8c24e29ae | 146 | m_pompe->write(val); |
| marwanesaich | 0:84a8c24e29ae | 147 | } |
| marwanesaich | 0:84a8c24e29ae | 148 | |
| kyxstark | 8:a25a9c22ba91 | 149 | void Ventouse::setElectrovanne(int val) |
| marwanesaich | 0:84a8c24e29ae | 150 | { |
| marwanesaich | 5:176e7353ba1c | 151 | if(flag_electrovanne)m_electrovanne->write(val); |
| marwanesaich | 0:84a8c24e29ae | 152 | } |
| marwanesaich | 0:84a8c24e29ae | 153 | |
| marwanesaich | 0:84a8c24e29ae | 154 | |
| marwanesaich | 0:84a8c24e29ae | 155 |