CRAC Team / Mbed 2 deprecated Carte_Pompe_V1_2020

carte esclave pompe 2020 V1

Dependencies:   mbed ident_crac

class_ventouse.cpp@10:765b4ff6d721, 2019-05-22 (annotated)

Committer:
kyxstark
Date:
Wed May 22 15:42:29 2019 +0000
Revision:
10:765b4ff6d721
Parent:
8:a25a9c22ba91
Child:
12:2491a5b0f90b
correction get ventouses;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
marwanesaich 0:84a8c24e29ae 1 #include "class_ventouse.h"
marwanesaich 4:82c90657da4a 2 #include "extern.h"
kyxstark 8:a25a9c22ba91 3 #include "ident_crac.h"
marwanesaich 0:84a8c24e29ae 4
kyxstark 8:a25a9c22ba91 5 #ifdef ROBOT_SMALL
kyxstark 8:a25a9c22ba91 6 float seuil[NB_VENTOUSES] = {0.10, 0.3, 0.3, 0.3, 0.10, 0.3, 0.3, 0.3};
kyxstark 10:765b4ff6d721 7 #define PWM_POMPE 0.7
kyxstark 8:a25a9c22ba91 8 #endif
kyxstark 8:a25a9c22ba91 9
kyxstark 8:a25a9c22ba91 10 #ifdef ROBOT_BIG
kyxstark 8:a25a9c22ba91 11 float seuil[NB_VENTOUSES] = {0.3, 0.3, 0.3};
kyxstark 10:765b4ff6d721 12 #define PWM_POMPE 1.0
kyxstark 8:a25a9c22ba91 13 #endif
marwanesaich 0:84a8c24e29ae 14
marwanesaich 0:84a8c24e29ae 15
marwanesaich 5:176e7353ba1c 16 Ventouse::Ventouse(PinName pinPompe, PinName pinCapteurPression, char index) : m_pinPompe(pinPompe),
marwanesaich 5:176e7353ba1c 17 m_pinCapteurPression(pinCapteurPression), m_index(index)
marwanesaich 5:176e7353ba1c 18 {
marwanesaich 5:176e7353ba1c 19 m_pompe = new PwmOut(m_pinPompe);
marwanesaich 5:176e7353ba1c 20 m_pression = new AnalogIn(m_pinCapteurPression);
marwanesaich 5:176e7353ba1c 21
marwanesaich 5:176e7353ba1c 22 m_pompe->period_us(50);
marwanesaich 5:176e7353ba1c 23
marwanesaich 5:176e7353ba1c 24 m_pompe->write(0);
marwanesaich 5:176e7353ba1c 25
marwanesaich 5:176e7353ba1c 26 flag_attraper = 0;
marwanesaich 5:176e7353ba1c 27 flag_relacher = 0;
marwanesaich 5:176e7353ba1c 28
marwanesaich 5:176e7353ba1c 29 etat = Attente;
marwanesaich 5:176e7353ba1c 30 m_ack = 0;
marwanesaich 5:176e7353ba1c 31 flag_electrovanne = 0;
marwanesaich 5:176e7353ba1c 32 }
marwanesaich 5:176e7353ba1c 33
marwanesaich 5:176e7353ba1c 34
marwanesaich 2:4cc8fa2f64be 35 Ventouse::Ventouse(PinName pinPompe, PinName pinElectrovanne, PinName pinCapteurPression, char index) : m_pinPompe(pinPompe),
marwanesaich 2:4cc8fa2f64be 36 m_pinElectrovanne(pinElectrovanne), m_pinCapteurPression(pinCapteurPression), m_index(index)
marwanesaich 0:84a8c24e29ae 37 {
marwanesaich 0:84a8c24e29ae 38 m_pompe = new PwmOut(m_pinPompe);
kyxstark 8:a25a9c22ba91 39 m_electrovanne = new DigitalOut(m_pinElectrovanne);
marwanesaich 0:84a8c24e29ae 40 m_pression = new AnalogIn(m_pinCapteurPression);
marwanesaich 0:84a8c24e29ae 41
marwanesaich 0:84a8c24e29ae 42 m_pompe->period_us(50);
kyxstark 8:a25a9c22ba91 43 //m_electrovanne->period_us(50);
marwanesaich 0:84a8c24e29ae 44
marwanesaich 0:84a8c24e29ae 45 m_pompe->write(0);
marwanesaich 0:84a8c24e29ae 46 m_electrovanne->write(0);
marwanesaich 2:4cc8fa2f64be 47
marwanesaich 2:4cc8fa2f64be 48 flag_attraper = 0;
marwanesaich 2:4cc8fa2f64be 49 flag_relacher = 0;
marwanesaich 2:4cc8fa2f64be 50
marwanesaich 2:4cc8fa2f64be 51 etat = Attente;
marwanesaich 2:4cc8fa2f64be 52 m_ack = 0;
marwanesaich 5:176e7353ba1c 53 flag_electrovanne = 1;
marwanesaich 2:4cc8fa2f64be 54 }
marwanesaich 2:4cc8fa2f64be 55
marwanesaich 2:4cc8fa2f64be 56 void Ventouse::automate()
marwanesaich 2:4cc8fa2f64be 57 {
marwanesaich 2:4cc8fa2f64be 58 switch(etat)
marwanesaich 2:4cc8fa2f64be 59 {
marwanesaich 2:4cc8fa2f64be 60 case Attente :
marwanesaich 2:4cc8fa2f64be 61 if(flag_attraper)
marwanesaich 2:4cc8fa2f64be 62 {
marwanesaich 2:4cc8fa2f64be 63 attraper();
marwanesaich 2:4cc8fa2f64be 64 etat = Attraper;
marwanesaich 2:4cc8fa2f64be 65 }
marwanesaich 2:4cc8fa2f64be 66 break;
marwanesaich 2:4cc8fa2f64be 67
marwanesaich 2:4cc8fa2f64be 68 case Attraper :
marwanesaich 6:fda992188a2f 69 wait_ms(10.0);
marwanesaich 7:43d9c70b6689 70 if(getPression()==1)
marwanesaich 4:82c90657da4a 71 {
marwanesaich 4:82c90657da4a 72 can.write(CANMessage(HACHEUR_GET_ATOM_ACK,&m_index,1));
marwanesaich 2:4cc8fa2f64be 73 etat = Attraper_ok;
marwanesaich 2:4cc8fa2f64be 74 }else if(flag_relacher)
marwanesaich 2:4cc8fa2f64be 75 {
marwanesaich 2:4cc8fa2f64be 76 relacher();
marwanesaich 2:4cc8fa2f64be 77 etat = Relacher;
marwanesaich 2:4cc8fa2f64be 78 }
marwanesaich 2:4cc8fa2f64be 79 break;
marwanesaich 2:4cc8fa2f64be 80
marwanesaich 2:4cc8fa2f64be 81 case Attraper_ok :
marwanesaich 2:4cc8fa2f64be 82 if(flag_relacher)
marwanesaich 2:4cc8fa2f64be 83 {
marwanesaich 2:4cc8fa2f64be 84 relacher();
marwanesaich 2:4cc8fa2f64be 85 etat = Relacher;
marwanesaich 2:4cc8fa2f64be 86 }
marwanesaich 2:4cc8fa2f64be 87 break;
marwanesaich 2:4cc8fa2f64be 88
marwanesaich 2:4cc8fa2f64be 89 case Relacher :
marwanesaich 7:43d9c70b6689 90 wait_ms(10.0);
marwanesaich 7:43d9c70b6689 91 if(getPression() == 0)
marwanesaich 2:4cc8fa2f64be 92 {
marwanesaich 4:82c90657da4a 93 can.write(CANMessage(HACHEUR_RELEASE_ATOM_ACK,&m_index,1));
kyxstark 8:a25a9c22ba91 94 if(flag_electrovanne) m_electrovanne->write(0);
marwanesaich 2:4cc8fa2f64be 95 etat = Attente;
marwanesaich 2:4cc8fa2f64be 96 }
marwanesaich 2:4cc8fa2f64be 97 break;
marwanesaich 2:4cc8fa2f64be 98
marwanesaich 2:4cc8fa2f64be 99 }
marwanesaich 2:4cc8fa2f64be 100 }
marwanesaich 2:4cc8fa2f64be 101
marwanesaich 2:4cc8fa2f64be 102
marwanesaich 2:4cc8fa2f64be 103 void Ventouse::action(bool action)
marwanesaich 2:4cc8fa2f64be 104 {
marwanesaich 2:4cc8fa2f64be 105 flag_attraper = action;
marwanesaich 2:4cc8fa2f64be 106 flag_relacher = !action;
marwanesaich 0:84a8c24e29ae 107 }
marwanesaich 0:84a8c24e29ae 108
marwanesaich 0:84a8c24e29ae 109 void Ventouse::attraper()
marwanesaich 0:84a8c24e29ae 110 {
kyxstark 10:765b4ff6d721 111 m_pompe->write(PWM_POMPE);
kyxstark 8:a25a9c22ba91 112 if(flag_electrovanne) m_electrovanne->write(0);
marwanesaich 0:84a8c24e29ae 113
marwanesaich 0:84a8c24e29ae 114 }
marwanesaich 0:84a8c24e29ae 115
marwanesaich 0:84a8c24e29ae 116 void Ventouse::relacher()
marwanesaich 0:84a8c24e29ae 117 {
marwanesaich 0:84a8c24e29ae 118 m_pompe->write(0.0);
kyxstark 8:a25a9c22ba91 119 if(flag_electrovanne) m_electrovanne->write(1);
marwanesaich 7:43d9c70b6689 120 wait_ms(300.0);
marwanesaich 0:84a8c24e29ae 121
marwanesaich 0:84a8c24e29ae 122 }
marwanesaich 0:84a8c24e29ae 123
marwanesaich 2:4cc8fa2f64be 124 bool Ventouse::getPression()
marwanesaich 6:fda992188a2f 125 {
marwanesaich 7:43d9c70b6689 126 printf("capteur %d : %f\n", m_index, m_pression->read());
marwanesaich 6:fda992188a2f 127 if(m_pression->read() > seuil[m_index]){
marwanesaich 0:84a8c24e29ae 128 return 1;
marwanesaich 0:84a8c24e29ae 129 }
marwanesaich 0:84a8c24e29ae 130 else{
marwanesaich 0:84a8c24e29ae 131 return 0;
marwanesaich 0:84a8c24e29ae 132 }
marwanesaich 0:84a8c24e29ae 133
marwanesaich 0:84a8c24e29ae 134 }
marwanesaich 0:84a8c24e29ae 135
marwanesaich 2:4cc8fa2f64be 136 bool Ventouse::getPompe()
marwanesaich 0:84a8c24e29ae 137 {
marwanesaich 0:84a8c24e29ae 138 if(m_pompe->read() > 0){
marwanesaich 0:84a8c24e29ae 139 return 1;
marwanesaich 0:84a8c24e29ae 140 }
marwanesaich 0:84a8c24e29ae 141 else{
marwanesaich 0:84a8c24e29ae 142 return 0;
marwanesaich 0:84a8c24e29ae 143 }
marwanesaich 0:84a8c24e29ae 144 }
marwanesaich 0:84a8c24e29ae 145
marwanesaich 0:84a8c24e29ae 146 void Ventouse::setPompe(float val)
marwanesaich 0:84a8c24e29ae 147 {
marwanesaich 0:84a8c24e29ae 148 m_pompe->write(val);
marwanesaich 0:84a8c24e29ae 149 }
marwanesaich 0:84a8c24e29ae 150
kyxstark 8:a25a9c22ba91 151 void Ventouse::setElectrovanne(int val)
marwanesaich 0:84a8c24e29ae 152 {
marwanesaich 5:176e7353ba1c 153 if(flag_electrovanne)m_electrovanne->write(val);
marwanesaich 0:84a8c24e29ae 154 }
marwanesaich 0:84a8c24e29ae 155
marwanesaich 0:84a8c24e29ae 156
marwanesaich 0:84a8c24e29ae 157