CRAC Team / Mbed 2 deprecated Carte_Pompe_V2

PINOUT à jour, trame CAN OK

Dependencies:   mbed ident_crac

Code carte pompe

class_ventouse.cpp@18:972d29c668a5, 2019-05-25 (annotated)

Committer:
kyxstark
Date:
Sat May 25 14:08:48 2019 +0000
Revision:
18:972d29c668a5
Parent:
16:5e00af31ae8a 
ralentissement courroies du haut;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
marwanesaich 0:84a8c24e29ae 1 #include "class_ventouse.h"
marwanesaich 0:84a8c24e29ae 2
kyxstark 8:a25a9c22ba91 3 #ifdef ROBOT_SMALL
marwanesaich 16:5e00af31ae8a 4 //float seuil[NB_VENTOUSES] = {0.10, 0.3, 0.3, 0.3, 0.10, 0.3, 0.3, 0.3};
marwanesaich 16:5e00af31ae8a 5 float seuil[NB_VENTOUSES] = {0.1, 0.1, 0.1, 0.1, 0.10, 0.1, 0.1, 0.1};
kyxstark 10:765b4ff6d721 6 #define PWM_POMPE 0.7
kyxstark 8:a25a9c22ba91 7 #endif
kyxstark 8:a25a9c22ba91 8
kyxstark 8:a25a9c22ba91 9 #ifdef ROBOT_BIG
marwanesaich 16:5e00af31ae8a 10 float seuil[NB_VENTOUSES] = {0.2, 0.1, 0.2};
marwanesaich 16:5e00af31ae8a 11 #define PWM_POMPE 0.9
kyxstark 8:a25a9c22ba91 12 #endif
marwanesaich 0:84a8c24e29ae 13
marwanesaich 0:84a8c24e29ae 14
marwanesaich 5:176e7353ba1c 15 Ventouse::Ventouse(PinName pinPompe, PinName pinCapteurPression, char index) : m_pinPompe(pinPompe),
marwanesaich 5:176e7353ba1c 16 m_pinCapteurPression(pinCapteurPression), m_index(index)
marwanesaich 5:176e7353ba1c 17 {
marwanesaich 5:176e7353ba1c 18 m_pompe = new PwmOut(m_pinPompe);
marwanesaich 5:176e7353ba1c 19 m_pression = new AnalogIn(m_pinCapteurPression);
marwanesaich 5:176e7353ba1c 20
marwanesaich 5:176e7353ba1c 21 m_pompe->period_us(50);
marwanesaich 5:176e7353ba1c 22
marwanesaich 5:176e7353ba1c 23 m_pompe->write(0);
marwanesaich 5:176e7353ba1c 24
marwanesaich 5:176e7353ba1c 25 flag_attraper = 0;
marwanesaich 5:176e7353ba1c 26 flag_relacher = 0;
marwanesaich 5:176e7353ba1c 27
marwanesaich 5:176e7353ba1c 28 etat = Attente;
marwanesaich 5:176e7353ba1c 29 m_ack = 0;
marwanesaich 5:176e7353ba1c 30 flag_electrovanne = 0;
marwanesaich 5:176e7353ba1c 31 }
marwanesaich 5:176e7353ba1c 32
marwanesaich 5:176e7353ba1c 33
marwanesaich 2:4cc8fa2f64be 34 Ventouse::Ventouse(PinName pinPompe, PinName pinElectrovanne, PinName pinCapteurPression, char index) : m_pinPompe(pinPompe),
marwanesaich 2:4cc8fa2f64be 35 m_pinElectrovanne(pinElectrovanne), m_pinCapteurPression(pinCapteurPression), m_index(index)
marwanesaich 0:84a8c24e29ae 36 {
marwanesaich 0:84a8c24e29ae 37 m_pompe = new PwmOut(m_pinPompe);
kyxstark 8:a25a9c22ba91 38 m_electrovanne = new DigitalOut(m_pinElectrovanne);
marwanesaich 0:84a8c24e29ae 39 m_pression = new AnalogIn(m_pinCapteurPression);
marwanesaich 0:84a8c24e29ae 40
marwanesaich 0:84a8c24e29ae 41 m_pompe->period_us(50);
kyxstark 8:a25a9c22ba91 42 //m_electrovanne->period_us(50);
marwanesaich 0:84a8c24e29ae 43
marwanesaich 0:84a8c24e29ae 44 m_pompe->write(0);
marwanesaich 0:84a8c24e29ae 45 m_electrovanne->write(0);
marwanesaich 2:4cc8fa2f64be 46
marwanesaich 2:4cc8fa2f64be 47 flag_attraper = 0;
marwanesaich 2:4cc8fa2f64be 48 flag_relacher = 0;
marwanesaich 2:4cc8fa2f64be 49
marwanesaich 2:4cc8fa2f64be 50 etat = Attente;
marwanesaich 2:4cc8fa2f64be 51 m_ack = 0;
marwanesaich 5:176e7353ba1c 52 flag_electrovanne = 1;
marwanesaich 2:4cc8fa2f64be 53 }
marwanesaich 2:4cc8fa2f64be 54
marwanesaich 2:4cc8fa2f64be 55 void Ventouse::automate()
marwanesaich 2:4cc8fa2f64be 56 {
marwanesaich 2:4cc8fa2f64be 57 switch(etat)
marwanesaich 2:4cc8fa2f64be 58 {
marwanesaich 2:4cc8fa2f64be 59 case Attente :
marwanesaich 2:4cc8fa2f64be 60 if(flag_attraper)
marwanesaich 2:4cc8fa2f64be 61 {
marwanesaich 2:4cc8fa2f64be 62 attraper();
marwanesaich 2:4cc8fa2f64be 63 etat = Attraper;
marwanesaich 2:4cc8fa2f64be 64 }
marwanesaich 2:4cc8fa2f64be 65 break;
marwanesaich 2:4cc8fa2f64be 66
marwanesaich 2:4cc8fa2f64be 67 case Attraper :
marwanesaich 6:fda992188a2f 68 wait_ms(10.0);
marwanesaich 7:43d9c70b6689 69 if(getPression()==1)
marwanesaich 4:82c90657da4a 70 {
marwanesaich 4:82c90657da4a 71 can.write(CANMessage(HACHEUR_GET_ATOM_ACK,&m_index,1));
marwanesaich 2:4cc8fa2f64be 72 etat = Attraper_ok;
marwanesaich 2:4cc8fa2f64be 73 }else if(flag_relacher)
marwanesaich 2:4cc8fa2f64be 74 {
marwanesaich 2:4cc8fa2f64be 75 relacher();
marwanesaich 2:4cc8fa2f64be 76 etat = Relacher;
marwanesaich 2:4cc8fa2f64be 77 }
marwanesaich 2:4cc8fa2f64be 78 break;
marwanesaich 2:4cc8fa2f64be 79
marwanesaich 2:4cc8fa2f64be 80 case Attraper_ok :
marwanesaich 2:4cc8fa2f64be 81 if(flag_relacher)
marwanesaich 2:4cc8fa2f64be 82 {
marwanesaich 2:4cc8fa2f64be 83 relacher();
marwanesaich 2:4cc8fa2f64be 84 etat = Relacher;
marwanesaich 2:4cc8fa2f64be 85 }
marwanesaich 2:4cc8fa2f64be 86 break;
marwanesaich 2:4cc8fa2f64be 87
marwanesaich 2:4cc8fa2f64be 88 case Relacher :
marwanesaich 7:43d9c70b6689 89 wait_ms(10.0);
marwanesaich 7:43d9c70b6689 90 if(getPression() == 0)
marwanesaich 2:4cc8fa2f64be 91 {
marwanesaich 4:82c90657da4a 92 can.write(CANMessage(HACHEUR_RELEASE_ATOM_ACK,&m_index,1));
kyxstark 8:a25a9c22ba91 93 if(flag_electrovanne) m_electrovanne->write(0);
marwanesaich 2:4cc8fa2f64be 94 etat = Attente;
marwanesaich 2:4cc8fa2f64be 95 }
marwanesaich 2:4cc8fa2f64be 96 break;
marwanesaich 2:4cc8fa2f64be 97
marwanesaich 2:4cc8fa2f64be 98 }
marwanesaich 2:4cc8fa2f64be 99 }
marwanesaich 2:4cc8fa2f64be 100
marwanesaich 2:4cc8fa2f64be 101
marwanesaich 2:4cc8fa2f64be 102 void Ventouse::action(bool action)
marwanesaich 2:4cc8fa2f64be 103 {
marwanesaich 2:4cc8fa2f64be 104 flag_attraper = action;
marwanesaich 2:4cc8fa2f64be 105 flag_relacher = !action;
marwanesaich 0:84a8c24e29ae 106 }
marwanesaich 0:84a8c24e29ae 107
marwanesaich 0:84a8c24e29ae 108 void Ventouse::attraper()
marwanesaich 0:84a8c24e29ae 109 {
kyxstark 10:765b4ff6d721 110 m_pompe->write(PWM_POMPE);
kyxstark 8:a25a9c22ba91 111 if(flag_electrovanne) m_electrovanne->write(0);
marwanesaich 0:84a8c24e29ae 112
marwanesaich 0:84a8c24e29ae 113 }
marwanesaich 0:84a8c24e29ae 114
marwanesaich 0:84a8c24e29ae 115 void Ventouse::relacher()
marwanesaich 0:84a8c24e29ae 116 {
marwanesaich 0:84a8c24e29ae 117 m_pompe->write(0.0);
kyxstark 8:a25a9c22ba91 118 if(flag_electrovanne) m_electrovanne->write(1);
marwanesaich 16:5e00af31ae8a 119 wait_ms(100.0);
marwanesaich 0:84a8c24e29ae 120
marwanesaich 0:84a8c24e29ae 121 }
marwanesaich 0:84a8c24e29ae 122
marwanesaich 2:4cc8fa2f64be 123 bool Ventouse::getPression()
marwanesaich 6:fda992188a2f 124 {
marwanesaich 6:fda992188a2f 125 if(m_pression->read() > seuil[m_index]){
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
marwanesaich 2:4cc8fa2f64be 134 bool Ventouse::getPompe()
marwanesaich 0:84a8c24e29ae 135 {
marwanesaich 0:84a8c24e29ae 136 if(m_pompe->read() > 0){
marwanesaich 0:84a8c24e29ae 137 return 1;
marwanesaich 0:84a8c24e29ae 138 }
marwanesaich 0:84a8c24e29ae 139 else{
marwanesaich 0:84a8c24e29ae 140 return 0;
marwanesaich 0:84a8c24e29ae 141 }
marwanesaich 0:84a8c24e29ae 142 }
marwanesaich 0:84a8c24e29ae 143
marwanesaich 0:84a8c24e29ae 144 void Ventouse::setPompe(float val)
marwanesaich 0:84a8c24e29ae 145 {
marwanesaich 0:84a8c24e29ae 146 m_pompe->write(val);
marwanesaich 0:84a8c24e29ae 147 }
marwanesaich 0:84a8c24e29ae 148
kyxstark 8:a25a9c22ba91 149 void Ventouse::setElectrovanne(int val)
marwanesaich 0:84a8c24e29ae 150 {
marwanesaich 5:176e7353ba1c 151 if(flag_electrovanne)m_electrovanne->write(val);
marwanesaich 0:84a8c24e29ae 152 }
marwanesaich 0:84a8c24e29ae 153
marwanesaich 0:84a8c24e29ae 154
marwanesaich 0:84a8c24e29ae 155