Diff: class_ventouse.cpp

Revision:

7:43d9c70b6689

Parent:

6:fda992188a2f

Child:

8:a25a9c22ba91

--- a/class_ventouse.cpp	Mon May 20 09:40:21 2019 +0000
+++ b/class_ventouse.cpp	Tue May 21 14:17:12 2019 +0000
@@ -2,7 +2,7 @@
 #include "extern.h"
 #include "ident_CRAC.h"
 
-float seuil[8] = {0.10, 0.5, 0.5, 0.5, 0.10, 0.5, 0.5, 0.5};
+float seuil[8] = {0.10, 0.3, 0.3, 0.3, 0.10, 0.3, 0.3, 0.3};
 
 
 Ventouse::Ventouse(PinName pinPompe, PinName pinCapteurPression, char index) : m_pinPompe(pinPompe),
@@ -59,7 +59,7 @@
             
         case Attraper :
             wait_ms(10.0);
-            if(getPression())
+            if(getPression()==1)
             {   
                 can.write(CANMessage(HACHEUR_GET_ATOM_ACK,&m_index,1));    
                 etat = Attraper_ok;
@@ -79,7 +79,8 @@
             break;
             
         case Relacher :
-            if(!getPression())
+            wait_ms(10.0);
+            if(getPression() == 0)
             {
                 can.write(CANMessage(HACHEUR_RELEASE_ATOM_ACK,&m_index,1));
                 if(flag_electrovanne) m_electrovanne->write(0.0);
@@ -99,7 +100,7 @@
 
 void Ventouse::attraper()
 {
-    m_pompe->write(0.85);
+    m_pompe->write(0.7);
     if(flag_electrovanne) m_electrovanne->write(0.0);
 
 }
@@ -108,12 +109,13 @@
 {
     m_pompe->write(0.0);
     if(flag_electrovanne) m_electrovanne->write(1.0);
+    wait_ms(300.0);
 
 }
 
 bool Ventouse::getPression()
 {   
-    //printf("capteur %d : %f\n", m_index, m_pression->read());  
+    printf("capteur %d : %f\n", m_index, m_pression->read());  
     if(m_pression->read() > seuil[m_index]){
         return 1;
     }