Diff: class_ventouse.cpp

Revision:

8:a25a9c22ba91

Parent:

7:43d9c70b6689

Child:

10:765b4ff6d721

--- a/class_ventouse.cpp	Tue May 21 14:17:12 2019 +0000
+++ b/class_ventouse.cpp	Wed May 22 09:52:47 2019 +0000
@@ -1,8 +1,14 @@
 #include "class_ventouse.h"
 #include "extern.h"
-#include "ident_CRAC.h"
+#include "ident_crac.h"
 
-float seuil[8] = {0.10, 0.3, 0.3, 0.3, 0.10, 0.3, 0.3, 0.3};
+#ifdef ROBOT_SMALL
+float seuil[NB_VENTOUSES] = {0.10, 0.3, 0.3, 0.3, 0.10, 0.3, 0.3, 0.3};
+#endif
+
+#ifdef ROBOT_BIG
+float seuil[NB_VENTOUSES] = {0.3, 0.3, 0.3};
+#endif
 
 
 Ventouse::Ventouse(PinName pinPompe, PinName pinCapteurPression, char index) : m_pinPompe(pinPompe),
@@ -28,11 +34,11 @@
 m_pinElectrovanne(pinElectrovanne), m_pinCapteurPression(pinCapteurPression), m_index(index)
 {
     m_pompe = new PwmOut(m_pinPompe);
-    m_electrovanne = new PwmOut(m_pinElectrovanne);
+    m_electrovanne = new DigitalOut(m_pinElectrovanne);
     m_pression = new AnalogIn(m_pinCapteurPression);
     
     m_pompe->period_us(50);
-    m_electrovanne->period_us(50);
+    //m_electrovanne->period_us(50);
     
     m_pompe->write(0);
     m_electrovanne->write(0);
@@ -83,7 +89,7 @@
             if(getPression() == 0)
             {
                 can.write(CANMessage(HACHEUR_RELEASE_ATOM_ACK,&m_index,1));
-                if(flag_electrovanne) m_electrovanne->write(0.0);
+                if(flag_electrovanne) m_electrovanne->write(0);
                 etat = Attente;  
             }
             break;
@@ -101,14 +107,14 @@
 void Ventouse::attraper()
 {
     m_pompe->write(0.7);
-    if(flag_electrovanne) m_electrovanne->write(0.0);
+    if(flag_electrovanne) m_electrovanne->write(0);
 
 }
 
 void Ventouse::relacher()
 {
     m_pompe->write(0.0);
-    if(flag_electrovanne) m_electrovanne->write(1.0);
+    if(flag_electrovanne) m_electrovanne->write(1);
     wait_ms(300.0);
 
 }
@@ -140,7 +146,7 @@
     m_pompe->write(val);
 }
 
-void Ventouse::setElectrovanne(float val)
+void Ventouse::setElectrovanne(int val)
 {
     if(flag_electrovanne)m_electrovanne->write(val);
 }