Diff: class_ventouse.cpp

Revision:

19:952208276c63

Parent:

16:5e00af31ae8a

Child:

20:677dcf689523

--- a/class_ventouse.cpp	Sat May 25 14:08:48 2019 +0000
+++ b/class_ventouse.cpp	Thu Mar 05 16:32:21 2020 +0000
@@ -1,16 +1,9 @@
 #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] = {0.1, 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] = {0.2, 0.1, 0.2};
-#define PWM_POMPE 0.9
-#endif
-
+#define PWM_ELECTROVANNE 0.35
 
 Ventouse::Ventouse(PinName pinPompe, PinName pinCapteurPression, char index) : m_pinPompe(pinPompe),
 m_pinCapteurPression(pinCapteurPression), m_index(index)
@@ -18,7 +11,7 @@
     m_pompe = new PwmOut(m_pinPompe);
     m_pression = new AnalogIn(m_pinCapteurPression);
     
-    m_pompe->period_us(50);
+    m_pompe->period_us(20);
     
     m_pompe->write(0);
     
@@ -35,11 +28,11 @@
 m_pinElectrovanne(pinElectrovanne), m_pinCapteurPression(pinCapteurPression), m_index(index)
 {
     m_pompe = new PwmOut(m_pinPompe);
-    m_electrovanne = new DigitalOut(m_pinElectrovanne);
+    m_electrovanne = new PwmOut(m_pinElectrovanne);
     m_pression = new AnalogIn(m_pinCapteurPression);
     
-    m_pompe->period_us(50);
-    //m_electrovanne->period_us(50);
+    m_pompe->period_us(20);
+    m_electrovanne->period_us(20);
     
     m_pompe->write(0);
     m_electrovanne->write(0);
@@ -108,16 +101,13 @@
 void Ventouse::attraper()
 {
     m_pompe->write(PWM_POMPE);
-    if(flag_electrovanne) m_electrovanne->write(0);
-
+    if(flag_electrovanne) m_electrovanne->write(0.0);
 }
 
 void Ventouse::relacher()
 {
     m_pompe->write(0.0);
-    if(flag_electrovanne) m_electrovanne->write(1);
-    wait_ms(100.0);
-
+    if(flag_electrovanne) m_electrovanne->write(PWM_ELECTROVANNE);
 }
 
 bool Ventouse::getPression()