CRAC Team / Mbed 2 deprecated Carte_Pompe_V1_2020

carte esclave pompe 2020 V1

Dependencies:   mbed ident_crac

class_ventouse.cpp@21:42d6cead9cc2, 2020-03-07 (annotated)

Committer:
maximilienlv
Date:
Sat Mar 07 17:40:59 2020 +0000
Revision:
21:42d6cead9cc2
Parent:
20:677dcf689523
Child:
22:f104afbecb98
pompe utilisant la pwm( fonctionnment des 6 pompes en demo)

Who changed what in which revision?

UserRevisionLine numberNew contents of line
marwanesaich 0:84a8c24e29ae 1 #include "class_ventouse.h"
marwanesaich 0:84a8c24e29ae 2
marwanesaich 16:5e00af31ae8a 3 //float seuil[NB_VENTOUSES] = {0.10, 0.3, 0.3, 0.3, 0.10, 0.3, 0.3, 0.3};
marwanesaich 16:5e00af31ae8a 4 float seuil[NB_VENTOUSES] = {0.1, 0.1, 0.1, 0.1, 0.10, 0.1, 0.1, 0.1};
maximilienlv 21:42d6cead9cc2 5 #define PWM_POMPE 0.7
maximilienlv 20:677dcf689523 6 #define PWM_ELECTROVANNE 0.3
marwanesaich 0:84a8c24e29ae 7
marwanesaich 5:176e7353ba1c 8 Ventouse::Ventouse(PinName pinPompe, PinName pinCapteurPression, char index) : m_pinPompe(pinPompe),
marwanesaich 5:176e7353ba1c 9 m_pinCapteurPression(pinCapteurPression), m_index(index)
marwanesaich 5:176e7353ba1c 10 {
marwanesaich 5:176e7353ba1c 11 m_pompe = new PwmOut(m_pinPompe);
marwanesaich 5:176e7353ba1c 12 m_pression = new AnalogIn(m_pinCapteurPression);
marwanesaich 5:176e7353ba1c 13
maximilienlv 19:952208276c63 14 m_pompe->period_us(20);
marwanesaich 5:176e7353ba1c 15
marwanesaich 5:176e7353ba1c 16 m_pompe->write(0);
marwanesaich 5:176e7353ba1c 17
marwanesaich 5:176e7353ba1c 18 flag_attraper = 0;
marwanesaich 5:176e7353ba1c 19 flag_relacher = 0;
marwanesaich 5:176e7353ba1c 20
marwanesaich 5:176e7353ba1c 21 etat = Attente;
marwanesaich 5:176e7353ba1c 22 m_ack = 0;
marwanesaich 5:176e7353ba1c 23 flag_electrovanne = 0;
marwanesaich 5:176e7353ba1c 24 }
marwanesaich 5:176e7353ba1c 25
marwanesaich 5:176e7353ba1c 26
marwanesaich 2:4cc8fa2f64be 27 Ventouse::Ventouse(PinName pinPompe, PinName pinElectrovanne, PinName pinCapteurPression, char index) : m_pinPompe(pinPompe),
marwanesaich 2:4cc8fa2f64be 28 m_pinElectrovanne(pinElectrovanne), m_pinCapteurPression(pinCapteurPression), m_index(index)
marwanesaich 0:84a8c24e29ae 29 {
marwanesaich 0:84a8c24e29ae 30 m_pompe = new PwmOut(m_pinPompe);
maximilienlv 19:952208276c63 31 m_electrovanne = new PwmOut(m_pinElectrovanne);
marwanesaich 0:84a8c24e29ae 32 m_pression = new AnalogIn(m_pinCapteurPression);
marwanesaich 0:84a8c24e29ae 33
maximilienlv 19:952208276c63 34 m_pompe->period_us(20);
maximilienlv 19:952208276c63 35 m_electrovanne->period_us(20);
marwanesaich 0:84a8c24e29ae 36
marwanesaich 0:84a8c24e29ae 37 m_pompe->write(0);
marwanesaich 0:84a8c24e29ae 38 m_electrovanne->write(0);
marwanesaich 2:4cc8fa2f64be 39
marwanesaich 2:4cc8fa2f64be 40 flag_attraper = 0;
marwanesaich 2:4cc8fa2f64be 41 flag_relacher = 0;
marwanesaich 2:4cc8fa2f64be 42
marwanesaich 2:4cc8fa2f64be 43 etat = Attente;
marwanesaich 2:4cc8fa2f64be 44 m_ack = 0;
marwanesaich 5:176e7353ba1c 45 flag_electrovanne = 1;
marwanesaich 2:4cc8fa2f64be 46 }
marwanesaich 2:4cc8fa2f64be 47
marwanesaich 2:4cc8fa2f64be 48 void Ventouse::automate()
marwanesaich 2:4cc8fa2f64be 49 {
marwanesaich 2:4cc8fa2f64be 50 switch(etat)
marwanesaich 2:4cc8fa2f64be 51 {
marwanesaich 2:4cc8fa2f64be 52 case Attente :
marwanesaich 2:4cc8fa2f64be 53 if(flag_attraper)
marwanesaich 2:4cc8fa2f64be 54 {
marwanesaich 2:4cc8fa2f64be 55 attraper();
marwanesaich 2:4cc8fa2f64be 56 etat = Attraper;
marwanesaich 2:4cc8fa2f64be 57 }
marwanesaich 2:4cc8fa2f64be 58 break;
marwanesaich 2:4cc8fa2f64be 59
marwanesaich 2:4cc8fa2f64be 60 case Attraper :
marwanesaich 6:fda992188a2f 61 wait_ms(10.0);
marwanesaich 7:43d9c70b6689 62 if(getPression()==1)
marwanesaich 4:82c90657da4a 63 {
maximilienlv 21:42d6cead9cc2 64 // can.write(CANMessage(HACHEUR_GET_ATOM_ACK,&m_index,1));
marwanesaich 2:4cc8fa2f64be 65 etat = Attraper_ok;
marwanesaich 2:4cc8fa2f64be 66 }else if(flag_relacher)
marwanesaich 2:4cc8fa2f64be 67 {
marwanesaich 2:4cc8fa2f64be 68 relacher();
marwanesaich 2:4cc8fa2f64be 69 etat = Relacher;
marwanesaich 2:4cc8fa2f64be 70 }
marwanesaich 2:4cc8fa2f64be 71 break;
marwanesaich 2:4cc8fa2f64be 72
marwanesaich 2:4cc8fa2f64be 73 case Attraper_ok :
marwanesaich 2:4cc8fa2f64be 74 if(flag_relacher)
marwanesaich 2:4cc8fa2f64be 75 {
marwanesaich 2:4cc8fa2f64be 76 relacher();
marwanesaich 2:4cc8fa2f64be 77 etat = Relacher;
marwanesaich 2:4cc8fa2f64be 78 }
marwanesaich 2:4cc8fa2f64be 79 break;
marwanesaich 2:4cc8fa2f64be 80
marwanesaich 2:4cc8fa2f64be 81 case Relacher :
marwanesaich 7:43d9c70b6689 82 wait_ms(10.0);
marwanesaich 7:43d9c70b6689 83 if(getPression() == 0)
marwanesaich 2:4cc8fa2f64be 84 {
maximilienlv 21:42d6cead9cc2 85 // can.write(CANMessage(HACHEUR_RELEASE_ATOM_ACK,&m_index,1));
kyxstark 8:a25a9c22ba91 86 if(flag_electrovanne) m_electrovanne->write(0);
marwanesaich 2:4cc8fa2f64be 87 etat = Attente;
marwanesaich 2:4cc8fa2f64be 88 }
marwanesaich 2:4cc8fa2f64be 89 break;
marwanesaich 2:4cc8fa2f64be 90
marwanesaich 2:4cc8fa2f64be 91 }
marwanesaich 2:4cc8fa2f64be 92 }
marwanesaich 2:4cc8fa2f64be 93
marwanesaich 2:4cc8fa2f64be 94 void Ventouse::action(bool action)
marwanesaich 2:4cc8fa2f64be 95 {
marwanesaich 2:4cc8fa2f64be 96 flag_attraper = action;
marwanesaich 2:4cc8fa2f64be 97 flag_relacher = !action;
marwanesaich 0:84a8c24e29ae 98 }
marwanesaich 0:84a8c24e29ae 99
marwanesaich 0:84a8c24e29ae 100 void Ventouse::attraper()
marwanesaich 0:84a8c24e29ae 101 {
kyxstark 10:765b4ff6d721 102 m_pompe->write(PWM_POMPE);
maximilienlv 19:952208276c63 103 if(flag_electrovanne) m_electrovanne->write(0.0);
marwanesaich 0:84a8c24e29ae 104 }
marwanesaich 0:84a8c24e29ae 105
marwanesaich 0:84a8c24e29ae 106 void Ventouse::relacher()
marwanesaich 0:84a8c24e29ae 107 {
marwanesaich 0:84a8c24e29ae 108 m_pompe->write(0.0);
maximilienlv 19:952208276c63 109 if(flag_electrovanne) m_electrovanne->write(PWM_ELECTROVANNE);
marwanesaich 0:84a8c24e29ae 110 }
marwanesaich 0:84a8c24e29ae 111
marwanesaich 2:4cc8fa2f64be 112 bool Ventouse::getPression()
marwanesaich 6:fda992188a2f 113 {
marwanesaich 6:fda992188a2f 114 if(m_pression->read() > seuil[m_index]){
marwanesaich 0:84a8c24e29ae 115 return 1;
marwanesaich 0:84a8c24e29ae 116 }
marwanesaich 0:84a8c24e29ae 117 else{
marwanesaich 0:84a8c24e29ae 118 return 0;
marwanesaich 0:84a8c24e29ae 119 }
marwanesaich 0:84a8c24e29ae 120
marwanesaich 0:84a8c24e29ae 121 }
marwanesaich 0:84a8c24e29ae 122
marwanesaich 2:4cc8fa2f64be 123 bool Ventouse::getPompe()
marwanesaich 0:84a8c24e29ae 124 {
marwanesaich 0:84a8c24e29ae 125 if(m_pompe->read() > 0){
marwanesaich 0:84a8c24e29ae 126 return 1;
marwanesaich 0:84a8c24e29ae 127 }
marwanesaich 0:84a8c24e29ae 128 else{
marwanesaich 0:84a8c24e29ae 129 return 0;
marwanesaich 0:84a8c24e29ae 130 }
marwanesaich 0:84a8c24e29ae 131 }
marwanesaich 0:84a8c24e29ae 132
marwanesaich 0:84a8c24e29ae 133 void Ventouse::setPompe(float val)
marwanesaich 0:84a8c24e29ae 134 {
marwanesaich 0:84a8c24e29ae 135 m_pompe->write(val);
marwanesaich 0:84a8c24e29ae 136 }
marwanesaich 0:84a8c24e29ae 137
kyxstark 8:a25a9c22ba91 138 void Ventouse::setElectrovanne(int val)
marwanesaich 0:84a8c24e29ae 139 {
marwanesaich 5:176e7353ba1c 140 if(flag_electrovanne)m_electrovanne->write(val);
maximilienlv 21:42d6cead9cc2 141 }