Diff: class_ventouse.cpp

Revision:

16:5e00af31ae8a

Parent:

12:2491a5b0f90b

Child:

19:952208276c63

--- a/class_ventouse.cpp	Thu May 23 09:10:12 2019 +0000
+++ b/class_ventouse.cpp	Thu May 23 10:36:35 2019 +0000
@@ -1,13 +1,14 @@
 #include "class_ventouse.h"
 
 #ifdef ROBOT_SMALL
-float seuil[NB_VENTOUSES] = {0.10, 0.3, 0.3, 0.3, 0.10, 0.3, 0.3, 0.3};
+//float seuil[NB_VENTOUSES] = {0.10, 0.3, 0.3, 0.3, 0.10, 0.3, 0.3, 0.3};
+float seuil[NB_VENTOUSES] = {0.1, 0.1, 0.1, 0.1, 0.10, 0.1, 0.1, 0.1};
 #define PWM_POMPE 0.7
 #endif
 
 #ifdef ROBOT_BIG
-float seuil[NB_VENTOUSES] = {0.3, 0.3, 0.3};
-#define PWM_POMPE 1.0
+float seuil[NB_VENTOUSES] = {0.2, 0.1, 0.2};
+#define PWM_POMPE 0.9
 #endif
 
 
@@ -115,13 +116,12 @@
 {
     m_pompe->write(0.0);
     if(flag_electrovanne) m_electrovanne->write(1);
-    wait_ms(300.0);
+    wait_ms(100.0);
 
 }
 
 bool Ventouse::getPression()
 {   
-    printf("capteur %d : %f\n", m_index, m_pression->read());  
     if(m_pression->read() > seuil[m_index]){
         return 1;
     }