Diff: class_ventouse.cpp

Revision:

2:4cc8fa2f64be

Parent:

0:84a8c24e29ae

Child:

3:cf33f9d4d6ff

Child:

4:82c90657da4a

--- a/class_ventouse.cpp	Tue May 07 08:33:42 2019 +0000
+++ b/class_ventouse.cpp	Tue May 07 13:14:29 2019 +0000
@@ -1,11 +1,10 @@
 #include "class_ventouse.h"
 
-#define SEUIL 0.3
+#define SEUIL 0.30
 
 
-
-Ventouse::Ventouse(PinName pinPompe, PinName pinElectrovanne, PinName pinCapteurPression) : m_pinPompe(pinPompe),
-m_pinElectrovanne(pinElectrovanne), m_pinCapteurPression(pinCapteurPression)
+Ventouse::Ventouse(PinName pinPompe, PinName pinElectrovanne, PinName pinCapteurPression, char index) : m_pinPompe(pinPompe),
+m_pinElectrovanne(pinElectrovanne), m_pinCapteurPression(pinCapteurPression), m_index(index)
 {
     m_pompe = new PwmOut(m_pinPompe);
     m_electrovanne = new PwmOut(m_pinElectrovanne);
@@ -16,6 +15,62 @@
     
     m_pompe->write(0);
     m_electrovanne->write(0);
+    
+    flag_attraper = 0;
+    flag_relacher = 0;
+    
+    etat = Attente; 
+    m_ack = 0;
+}
+
+void Ventouse::automate()
+{
+    switch(etat)
+    {
+        case Attente :
+            if(flag_attraper)
+            {   
+                attraper();
+                etat = Attraper;
+            }
+            break;
+            
+        case Attraper :
+            if(getPression())
+            {       
+                etat = Attraper_ok;
+            }else if(flag_relacher)
+            {
+                relacher();
+                etat = Relacher;
+            }
+            break;
+            
+        case Attraper_ok :
+            if(flag_relacher)
+            {
+                relacher();
+                wait(0.5);
+                etat = Relacher;
+            }
+            break;
+            
+        case Relacher :
+            if(!getPression())
+            {
+                m_electrovanne->write(0.0);
+                etat = Attente;  
+            }
+            break;
+            
+    }
+}
+
+
+void Ventouse::action(bool action)
+{
+    flag_attraper = action;
+    flag_relacher = !action;
 }
 
 void Ventouse::attraper()
@@ -32,7 +87,7 @@
 
 }
 
-int Ventouse::getPression()
+bool Ventouse::getPression()
 {
     if(m_pression->read() > SEUIL){
         return 1;
@@ -43,7 +98,7 @@
  
 }
 
-int Ventouse::getPompe()
+bool Ventouse::getPompe()
 {
     if(m_pompe->read() > 0){
         return 1;
@@ -65,4 +120,3 @@
 
 
 
-