Diff: class_ventouse.cpp

Revision:

3:cf33f9d4d6ff

Parent:

2:4cc8fa2f64be

--- a/class_ventouse.cpp	Tue May 07 13:14:29 2019 +0000
+++ b/class_ventouse.cpp	Tue May 07 18:53:22 2019 +0000
@@ -21,6 +21,27 @@
     
     etat = Attente; 
     m_ack = 0;
+    
+    flag_electrovanne = 1;
+}
+
+Ventouse::Ventouse(PinName pinPompe, PinName pinCapteurPression, char index) : m_pinPompe(pinPompe),
+m_pinCapteurPression(pinCapteurPression), m_index(index)
+{
+    m_pompe = new PwmOut(m_pinPompe);
+    m_pression = new AnalogIn(m_pinCapteurPression);
+    
+    m_pompe->period_us(50);
+    
+    m_pompe->write(0);
+    
+    flag_attraper = 0;
+    flag_relacher = 0;
+    
+    etat = Attente; 
+    m_ack = 0;
+    
+    flag_electrovanne = 0;
 }
 
 void Ventouse::automate()
@@ -50,7 +71,7 @@
             if(flag_relacher)
             {
                 relacher();
-                wait(0.5);
+                //wait(0.5);
                 etat = Relacher;
             }
             break;
@@ -58,7 +79,7 @@
         case Relacher :
             if(!getPression())
             {
-                m_electrovanne->write(0.0);
+                if(flag_electrovanne) m_electrovanne->write(0.0);
                 etat = Attente;  
             }
             break;
@@ -76,20 +97,20 @@
 void Ventouse::attraper()
 {
     m_pompe->write(0.5);
-    m_electrovanne->write(0.0);
+    if(flag_electrovanne) m_electrovanne->write(0.0);
 
 }
 
 void Ventouse::relacher()
 {
     m_pompe->write(0.0);
-    m_electrovanne->write(1.0);
+    if(flag_electrovanne) m_electrovanne->write(1.0);
 
 }
 
 bool Ventouse::getPression()
 {
-    if(m_pression->read() > SEUIL){
+    if((double)m_pression->read() > SEUIL){
         return 1;
     }
     else{
@@ -115,7 +136,7 @@
 
 void Ventouse::setElectrovanne(float val)
 {
-    m_electrovanne->write(val);
+    if(flag_electrovanne) m_electrovanne->write(val);
 }