carte esclave pompe 2020 V1
Dependencies: mbed ident_crac
class_ventouse.cpp
- Committer:
- marwanesaich
- Date:
- 2019-05-08
- Revision:
- 4:82c90657da4a
- Parent:
- 2:4cc8fa2f64be
- Child:
- 5:176e7353ba1c
File content as of revision 4:82c90657da4a:
#include "class_ventouse.h" #include "extern.h" #include "ident_CRAC.h" #define SEUIL 0.30 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); m_pression = new AnalogIn(m_pinCapteurPression); m_pompe->period_us(50); m_electrovanne->period_us(50); 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()) { can.write(CANMessage(HACHEUR_GET_ATOM_ACK,&m_index,1)); 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()) { can.write(CANMessage(HACHEUR_RELEASE_ATOM_ACK,&m_index,1)); m_electrovanne->write(0.0); etat = Attente; } break; } } void Ventouse::action(bool action) { flag_attraper = action; flag_relacher = !action; } void Ventouse::attraper() { m_pompe->write(0.5); m_electrovanne->write(0.0); } void Ventouse::relacher() { m_pompe->write(0.0); m_electrovanne->write(1.0); } bool Ventouse::getPression() { if(m_pression->read() > SEUIL){ return 1; } else{ return 0; } } bool Ventouse::getPompe() { if(m_pompe->read() > 0){ return 1; } else{ return 0; } } void Ventouse::setPompe(float val) { m_pompe->write(val); } void Ventouse::setElectrovanne(float val) { m_electrovanne->write(val); }