CRAC Team / Mbed 2 deprecated Carte_Pompe_V2

PINOUT à jour, trame CAN OK

Dependencies:   mbed ident_crac

Code carte pompe

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

Committer:
kyxstark
Date:
Sat May 25 14:08:48 2019 +0000
Revision:
18:972d29c668a5
Parent:
17:fcfdd7de9039 
ralentissement courroies du haut;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
kyxstark 12:2491a5b0f90b 1
marwanesaich 4:82c90657da4a 2 #include "extern.h"
kyxstark 8:a25a9c22ba91 3 #define SIZE_FIFO 50
marwanesaich 1:8a55f1d5cb26 4
kyxstark 8:a25a9c22ba91 5
marwanesaich 0:84a8c24e29ae 6
kyxstark 8:a25a9c22ba91 7
marwanesaich 0:84a8c24e29ae 8 CANMessage msgRxBuffer[SIZE_FIFO];
marwanesaich 0:84a8c24e29ae 9 unsigned char FIFO_ecriture=0; //Position du fifo pour la reception CAN
marwanesaich 0:84a8c24e29ae 10 signed char FIFO_lecture=0;//Position du fifo de lecture des messages CAN
kyxstark 8:a25a9c22ba91 11 char end_game = 0;
marwanesaich 0:84a8c24e29ae 12
kyxstark 8:a25a9c22ba91 13 Ventouse* ventouse[NB_VENTOUSES];
kyxstark 8:a25a9c22ba91 14
kyxstark 17:fcfdd7de9039 15 BusIn contacts(PC_11, PC_12, PB_4, PB_5, PC_13, PC_14, PC_2, PC_3);
kyxstark 17:fcfdd7de9039 16 DigitalIn Contact1(PC_11, PullNone);
kyxstark 17:fcfdd7de9039 17 DigitalIn Contact2(PC_12, PullNone);
kyxstark 17:fcfdd7de9039 18 DigitalIn Contact3(PB_4, PullNone);
kyxstark 17:fcfdd7de9039 19 DigitalIn Contact4(PB_5, PullNone);
kyxstark 17:fcfdd7de9039 20 DigitalIn Contact5(PC_13, PullNone);
kyxstark 17:fcfdd7de9039 21 DigitalIn Contact6(PC_14, PullNone);
kyxstark 17:fcfdd7de9039 22 DigitalIn Contact7(PC_2, PullNone);
kyxstark 17:fcfdd7de9039 23 DigitalIn Contact8(PC_3, PullNone);
kyxstark 17:fcfdd7de9039 24
kyxstark 17:fcfdd7de9039 25 void lecture_contacts(void);
kyxstark 17:fcfdd7de9039 26
kyxstark 8:a25a9c22ba91 27 #ifdef ROBOT_SMALL
kyxstark 8:a25a9c22ba91 28
kyxstark 8:a25a9c22ba91 29 #endif
kyxstark 8:a25a9c22ba91 30
kyxstark 8:a25a9c22ba91 31 #ifdef ROBOT_BIG
kyxstark 17:fcfdd7de9039 32
kyxstark 8:a25a9c22ba91 33 PwmOut ascenseur[8] = {PC_9, PA_8, PA_9, PA_10, PC_7, PC_8, PB_10 ,PB_2};
kyxstark 18:972d29c668a5 34 PwmOut* ascenseur_D = ascenseur;
kyxstark 18:972d29c668a5 35 PwmOut* ascenseur_G = ascenseur+4;
kyxstark 8:a25a9c22ba91 36
kyxstark 18:972d29c668a5 37 //ascenseur_D = ascenseur;
kyxstark 18:972d29c668a5 38 //ascenseur_G = ascenseur + 4;
kyxstark 18:972d29c668a5 39
kyxstark 18:972d29c668a5 40 #define VIT_COURROIE_HAUT_V 0.5
kyxstark 18:972d29c668a5 41 #define VIT_COURROIE_HAUT_L 0.4
kyxstark 18:972d29c668a5 42 #define VIT_COURROIE_BAS_V 0.6
kyxstark 18:972d29c668a5 43 #define VIT_COURROIE_BAS_L 0.5
kyxstark 8:a25a9c22ba91 44
kyxstark 8:a25a9c22ba91 45 void set_ascensseur(int allume);
kyxstark 8:a25a9c22ba91 46 #endif
kyxstark 8:a25a9c22ba91 47
marwanesaich 0:84a8c24e29ae 48
marwanesaich 0:84a8c24e29ae 49
marwanesaich 0:84a8c24e29ae 50 void get_etat_ventouses();
marwanesaich 0:84a8c24e29ae 51
kyxstark 8:a25a9c22ba91 52
marwanesaich 2:4cc8fa2f64be 53 CAN can(PB_8,PB_9,1000000);
marwanesaich 2:4cc8fa2f64be 54 Serial pc(USBTX,USBRX);
marwanesaich 0:84a8c24e29ae 55
marwanesaich 0:84a8c24e29ae 56 /*********************************************************************************************************/
marwanesaich 0:84a8c24e29ae 57 /* FUNCTION NAME: canRx_ISR */
marwanesaich 0:84a8c24e29ae 58 /* DESCRIPTION : lit les messages sur le can et les stocke dans la FIFO */
marwanesaich 0:84a8c24e29ae 59 /*********************************************************************************************************/
marwanesaich 0:84a8c24e29ae 60 void canRx_ISR (void)
marwanesaich 0:84a8c24e29ae 61 {
marwanesaich 0:84a8c24e29ae 62 if (can.read(msgRxBuffer[FIFO_ecriture]))
marwanesaich 0:84a8c24e29ae 63 FIFO_ecriture=(FIFO_ecriture+1)%SIZE_FIFO;
marwanesaich 0:84a8c24e29ae 64 }
marwanesaich 0:84a8c24e29ae 65
marwanesaich 0:84a8c24e29ae 66
marwanesaich 0:84a8c24e29ae 67 /*********************************************************************************************************/
marwanesaich 0:84a8c24e29ae 68 /* FUNCTION NAME: canProcessRx */
marwanesaich 0:84a8c24e29ae 69 /* DESCRIPTION : Fonction de traitement des messages CAN */
marwanesaich 0:84a8c24e29ae 70 /*********************************************************************************************************/
marwanesaich 0:84a8c24e29ae 71 void canProcessRx(void){
marwanesaich 0:84a8c24e29ae 72 static signed char FIFO_occupation=0,FIFO_max_occupation=0;
marwanesaich 0:84a8c24e29ae 73 CANMessage msgTx=CANMessage();
marwanesaich 0:84a8c24e29ae 74 FIFO_occupation=FIFO_ecriture-FIFO_lecture;
marwanesaich 0:84a8c24e29ae 75 if(FIFO_occupation<0)
marwanesaich 0:84a8c24e29ae 76 FIFO_occupation=FIFO_occupation+SIZE_FIFO;
marwanesaich 0:84a8c24e29ae 77 if(FIFO_max_occupation<FIFO_occupation)
marwanesaich 0:84a8c24e29ae 78 FIFO_max_occupation=FIFO_occupation;
marwanesaich 0:84a8c24e29ae 79 if(FIFO_occupation!=0) {
marwanesaich 0:84a8c24e29ae 80 int identifiant=msgRxBuffer[FIFO_lecture].id;
marwanesaich 1:8a55f1d5cb26 81 char BRAS = 0;
marwanesaich 1:8a55f1d5cb26 82
marwanesaich 0:84a8c24e29ae 83 switch(identifiant){
marwanesaich 0:84a8c24e29ae 84
marwanesaich 0:84a8c24e29ae 85 case HACHEUR_GET_ATOM:
marwanesaich 1:8a55f1d5cb26 86 BRAS = msgRxBuffer[FIFO_lecture].data[0];
marwanesaich 2:4cc8fa2f64be 87 ventouse[BRAS]->action(1);
marwanesaich 0:84a8c24e29ae 88 break;
kyxstark 8:a25a9c22ba91 89
marwanesaich 0:84a8c24e29ae 90 case HACHEUR_RELEASE_ATOM:
marwanesaich 1:8a55f1d5cb26 91 BRAS = msgRxBuffer[FIFO_lecture].data[0];
marwanesaich 2:4cc8fa2f64be 92 ventouse[BRAS]->action(0);
kyxstark 8:a25a9c22ba91 93 break;
kyxstark 8:a25a9c22ba91 94
kyxstark 8:a25a9c22ba91 95 case HACHEUR_STATUT_VENTOUSES:
kyxstark 8:a25a9c22ba91 96 get_etat_ventouses();
kyxstark 8:a25a9c22ba91 97 break;
kyxstark 8:a25a9c22ba91 98
kyxstark 8:a25a9c22ba91 99 case GLOBAL_GAME_END:
kyxstark 8:a25a9c22ba91 100 end_game = 1;
kyxstark 8:a25a9c22ba91 101 break;
kyxstark 17:fcfdd7de9039 102
kyxstark 17:fcfdd7de9039 103 case HACHEUR_ETAT_CONTACTS:
kyxstark 17:fcfdd7de9039 104 char contacts_tmp = contacts;
kyxstark 17:fcfdd7de9039 105 can.write(CANMessage(HACHEUR_ETAT_CONTACTS,&contacts_tmp,1));
kyxstark 17:fcfdd7de9039 106 break;
kyxstark 8:a25a9c22ba91 107
kyxstark 8:a25a9c22ba91 108 #ifdef ROBOT_SMALL
kyxstark 8:a25a9c22ba91 109
marwanesaich 0:84a8c24e29ae 110
marwanesaich 4:82c90657da4a 111 case HACHEUR_GET_PRESENTOIR_AR:
marwanesaich 5:176e7353ba1c 112 ventouse[AR_GAUCHE]->action(1);
marwanesaich 5:176e7353ba1c 113 ventouse[AR_CENTRE]->action(1);
marwanesaich 5:176e7353ba1c 114 ventouse[AR_DROIT]->action(1);
marwanesaich 0:84a8c24e29ae 115 break;
marwanesaich 0:84a8c24e29ae 116
marwanesaich 5:176e7353ba1c 117 case HACHEUR_RELEASE_AR:
marwanesaich 5:176e7353ba1c 118 ventouse[AR_GAUCHE]->action(0);
marwanesaich 5:176e7353ba1c 119 ventouse[AR_CENTRE]->action(0);
marwanesaich 5:176e7353ba1c 120 ventouse[AR_DROIT]->action(0);
marwanesaich 5:176e7353ba1c 121 break;
marwanesaich 5:176e7353ba1c 122
marwanesaich 1:8a55f1d5cb26 123 case HACHEUR_GET_PRESENTOIR_AV :
marwanesaich 5:176e7353ba1c 124 ventouse[AV_GAUCHE]->action(1);
marwanesaich 5:176e7353ba1c 125 ventouse[AV_CENTRE]->action(1);
marwanesaich 5:176e7353ba1c 126 ventouse[AV_DROIT]->action(1);
marwanesaich 0:84a8c24e29ae 127 break;
marwanesaich 0:84a8c24e29ae 128
marwanesaich 5:176e7353ba1c 129 case HACHEUR_RELEASE_AV :
marwanesaich 5:176e7353ba1c 130 ventouse[AV_GAUCHE]->action(0);
marwanesaich 5:176e7353ba1c 131 ventouse[AV_CENTRE]->action(0);
marwanesaich 5:176e7353ba1c 132 ventouse[AV_DROIT]->action(0);
marwanesaich 5:176e7353ba1c 133 break;
marwanesaich 5:176e7353ba1c 134
kyxstark 8:a25a9c22ba91 135
kyxstark 8:a25a9c22ba91 136
kyxstark 8:a25a9c22ba91 137 #endif
kyxstark 8:a25a9c22ba91 138
kyxstark 8:a25a9c22ba91 139 #ifdef ROBOT_BIG
kyxstark 8:a25a9c22ba91 140
kyxstark 8:a25a9c22ba91 141 case HACHEUR_GET_PRESENTOIR_AV :
kyxstark 13:178eaf022d60 142 ventouse[AV_GAUCHE]->action(1);
kyxstark 13:178eaf022d60 143 ventouse[AV_CENTRE]->action(1);
kyxstark 13:178eaf022d60 144 ventouse[AV_DROIT]->action(1);
marwanesaich 0:84a8c24e29ae 145 break;
marwanesaich 0:84a8c24e29ae 146
kyxstark 8:a25a9c22ba91 147 case HACHEUR_RELEASE_AV :
kyxstark 13:178eaf022d60 148 ventouse[AV_GAUCHE]->action(0);
kyxstark 13:178eaf022d60 149 ventouse[AV_CENTRE]->action(0);
kyxstark 13:178eaf022d60 150 ventouse[AV_DROIT]->action(0);
marwanesaich 0:84a8c24e29ae 151 break;
kyxstark 8:a25a9c22ba91 152
kyxstark 9:8193c05bd0a0 153 case HACHEUR_ID_COUROIES :
kyxstark 8:a25a9c22ba91 154 set_ascensseur(msgRxBuffer[FIFO_lecture].data[0]);
kyxstark 8:a25a9c22ba91 155 break;
marwanesaich 0:84a8c24e29ae 156
marwanesaich 0:84a8c24e29ae 157 #endif
marwanesaich 0:84a8c24e29ae 158 }
marwanesaich 0:84a8c24e29ae 159 FIFO_lecture=(FIFO_lecture+1)%SIZE_FIFO;
marwanesaich 0:84a8c24e29ae 160 }
marwanesaich 0:84a8c24e29ae 161 }
marwanesaich 0:84a8c24e29ae 162
marwanesaich 0:84a8c24e29ae 163 int main() {
marwanesaich 0:84a8c24e29ae 164
marwanesaich 0:84a8c24e29ae 165 can.attach(&canRx_ISR); // création de l'interrupt attachée à la réception sur le CAN
marwanesaich 0:84a8c24e29ae 166 wait(1);
marwanesaich 1:8a55f1d5cb26 167 #ifdef ROBOT_SMALL
kyxstark 10:765b4ff6d721 168 pc.printf("\nPetit robot\n\n");
marwanesaich 16:5e00af31ae8a 169 ventouse[AV_GAUCHE] = new Ventouse(PB_7, PB_6, PC_0, AV_GAUCHE);
marwanesaich 2:4cc8fa2f64be 170 ventouse[AR_CENTRE] = new Ventouse(PC_9, PA_8, PB_0, AR_CENTRE);
marwanesaich 2:4cc8fa2f64be 171 ventouse[AR_DROIT] = new Ventouse(PA_9, PA_10, PB_1, AR_DROIT);
marwanesaich 5:176e7353ba1c 172 //ventouse[AR_BAS] = new Ventouse(PA_11, PA_15, PC_1, AR_BAS);
marwanesaich 5:176e7353ba1c 173 ventouse[AR_BAS] = new Ventouse(PA_11, PC_1, AR_BAS);
marwanesaich 0:84a8c24e29ae 174
marwanesaich 16:5e00af31ae8a 175 ventouse[AV_DROIT] = new Ventouse(PA_0, PA_1, PA_4, AV_DROIT);
marwanesaich 2:4cc8fa2f64be 176 ventouse[AV_CENTRE] = new Ventouse(PC_7,PC_8 , PC_5, AV_CENTRE);
marwanesaich 4:82c90657da4a 177 ventouse[AR_GAUCHE] = new Ventouse(PB_10, PB_2, PC_4, AR_GAUCHE);
marwanesaich 5:176e7353ba1c 178 //ventouse[AV_BAS] = new Ventouse(PA_6, PA_5, PA_7, AV_BAS);
marwanesaich 5:176e7353ba1c 179 ventouse[AV_BAS] = new Ventouse(PA_6, PA_7, AV_BAS);
kyxstark 8:a25a9c22ba91 180
marwanesaich 4:82c90657da4a 181
kyxstark 8:a25a9c22ba91 182 #endif
kyxstark 8:a25a9c22ba91 183
kyxstark 8:a25a9c22ba91 184 #ifdef ROBOT_BIG
kyxstark 10:765b4ff6d721 185 pc.printf("\nGros robot\n\n");
kyxstark 13:178eaf022d60 186 ventouse[AV_GAUCHE] = new Ventouse(PA_6, PA_5, PA_7, AV_GAUCHE);
kyxstark 13:178eaf022d60 187 ventouse[AV_CENTRE] = new Ventouse(PA_0, PA_1, PA_4, AV_CENTRE);
kyxstark 13:178eaf022d60 188 ventouse[AV_DROIT] = new Ventouse(PA_11, PA_15, PC_1, AV_DROIT);
kyxstark 8:a25a9c22ba91 189
kyxstark 8:a25a9c22ba91 190 for (int i=0; i<8; i++){
kyxstark 8:a25a9c22ba91 191 ascenseur[i].period_us(50);
kyxstark 8:a25a9c22ba91 192 }
kyxstark 8:a25a9c22ba91 193
kyxstark 8:a25a9c22ba91 194
kyxstark 8:a25a9c22ba91 195
kyxstark 8:a25a9c22ba91 196 set_ascensseur(0);
kyxstark 8:a25a9c22ba91 197 wait(1);
marwanesaich 1:8a55f1d5cb26 198 #endif
kyxstark 8:a25a9c22ba91 199
marwanesaich 1:8a55f1d5cb26 200 pc.printf("LAUNCHED");
marwanesaich 0:84a8c24e29ae 201 while(1) {
marwanesaich 0:84a8c24e29ae 202 canProcessRx();
kyxstark 8:a25a9c22ba91 203 for(int i=0; i<NB_VENTOUSES; i++){
marwanesaich 2:4cc8fa2f64be 204 ventouse[i]->automate();
kyxstark 17:fcfdd7de9039 205 }
kyxstark 17:fcfdd7de9039 206 lecture_contacts();
kyxstark 17:fcfdd7de9039 207
kyxstark 17:fcfdd7de9039 208
marwanesaich 0:84a8c24e29ae 209 if(end_game){
kyxstark 8:a25a9c22ba91 210 for(int i=0; i<NB_VENTOUSES;i++){
marwanesaich 0:84a8c24e29ae 211 ventouse[i]->setPompe(0.0);
kyxstark 8:a25a9c22ba91 212 ventouse[i]->setElectrovanne(0);
marwanesaich 0:84a8c24e29ae 213 }
kyxstark 17:fcfdd7de9039 214 #ifdef ROBOT_BIG
marwanesaich 11:98dfe1a61df5 215 set_ascensseur(0);
kyxstark 17:fcfdd7de9039 216 #endif
marwanesaich 0:84a8c24e29ae 217 while(1){;}
marwanesaich 0:84a8c24e29ae 218 }
marwanesaich 0:84a8c24e29ae 219 }
marwanesaich 0:84a8c24e29ae 220 }
marwanesaich 0:84a8c24e29ae 221
kyxstark 17:fcfdd7de9039 222 void lecture_contacts(void)
kyxstark 17:fcfdd7de9039 223 {
kyxstark 17:fcfdd7de9039 224 static char prev_contacts = contacts;
kyxstark 17:fcfdd7de9039 225
kyxstark 17:fcfdd7de9039 226 if(contacts != prev_contacts)
kyxstark 17:fcfdd7de9039 227 {
kyxstark 17:fcfdd7de9039 228 prev_contacts = contacts;
kyxstark 17:fcfdd7de9039 229 can.write(CANMessage(HACHEUR_ETAT_CONTACTS,&prev_contacts,1));
kyxstark 17:fcfdd7de9039 230 }
kyxstark 17:fcfdd7de9039 231 }
kyxstark 8:a25a9c22ba91 232 #ifdef ROBOT_BIG
kyxstark 8:a25a9c22ba91 233 void set_ascensseur(int allume){
kyxstark 18:972d29c668a5 234 /*PwmOut* vitH, vitL;
kyxstark 17:fcfdd7de9039 235 switch(allume){
kyxstark 17:fcfdd7de9039 236 case 1:
kyxstark 18:972d29c668a5 237 vitH = ascenseur_G;
kyxstark 18:972d29c668a5 238 vitL = ascenseur_D;
kyxstark 17:fcfdd7de9039 239 break;
kyxstark 17:fcfdd7de9039 240 case 2:
kyxstark 18:972d29c668a5 241 vitH = ascenseur_G;
kyxstark 18:972d29c668a5 242 vitL = ascenseur_D;
kyxstark 17:fcfdd7de9039 243 break;
kyxstark 17:fcfdd7de9039 244 default:
kyxstark 17:fcfdd7de9039 245 vitG = 0;
kyxstark 17:fcfdd7de9039 246 vitD = 0;
kyxstark 17:fcfdd7de9039 247 break;
kyxstark 8:a25a9c22ba91 248 }
kyxstark 18:972d29c668a5 249 for (int i=0; i<3; i++)
kyxstark 17:fcfdd7de9039 250 {
kyxstark 18:972d29c668a5 251 vitL[i] = VIT_COURROIE_BAS_L;
kyxstark 18:972d29c668a5 252 vitH[i] = VIT_COURROIE_BAS_V;
kyxstark 8:a25a9c22ba91 253 }
kyxstark 18:972d29c668a5 254
kyxstark 18:972d29c668a5 255 vitL[3] = VIT_COURROIE_HEUT_L;
kyxstark 18:972d29c668a5 256 vitH[3] = VIT_COURROIE_HAUT_V;*/
kyxstark 18:972d29c668a5 257
kyxstark 18:972d29c668a5 258
kyxstark 18:972d29c668a5 259
kyxstark 18:972d29c668a5 260 // float vitG, vitD, vitHG, vitHD;
kyxstark 18:972d29c668a5 261
kyxstark 18:972d29c668a5 262 switch(allume){
kyxstark 18:972d29c668a5 263 case 1:
kyxstark 18:972d29c668a5 264 /*
kyxstark 18:972d29c668a5 265 vitG = VIT_COURROIE_BAS_V;
kyxstark 18:972d29c668a5 266 vitD = VIT_COURROIE_BAS_L;
kyxstark 18:972d29c668a5 267 vitHG = VIT_COURROIE_HAUT_V;
kyxstark 18:972d29c668a5 268 vitHD = VIT_COURROIE_HEUT_L;*/
kyxstark 18:972d29c668a5 269 for (int i=0; i<3; i++)
kyxstark 18:972d29c668a5 270 {
kyxstark 18:972d29c668a5 271 ascenseur_D[i] = VIT_COURROIE_BAS_L;
kyxstark 18:972d29c668a5 272 ascenseur_G[i] = VIT_COURROIE_BAS_V;
kyxstark 18:972d29c668a5 273 }
kyxstark 18:972d29c668a5 274
kyxstark 18:972d29c668a5 275 ascenseur_D[3] = VIT_COURROIE_HAUT_L;
kyxstark 18:972d29c668a5 276 ascenseur_G[3] = VIT_COURROIE_HAUT_V;
kyxstark 18:972d29c668a5 277 break;
kyxstark 18:972d29c668a5 278 case 2:
kyxstark 18:972d29c668a5 279 /*
kyxstark 18:972d29c668a5 280 vitG = VIT_COURROIE_BAS_L;
kyxstark 18:972d29c668a5 281 vitD = VIT_COURROIE_BAS_V;
kyxstark 18:972d29c668a5 282 vitHG = VIT_COURROIE_HAUT_L;
kyxstark 18:972d29c668a5 283 vitHD = VIT_COURROIE_HEUT_V;*/
kyxstark 18:972d29c668a5 284 for (int i=0; i<3; i++)
kyxstark 18:972d29c668a5 285 {
kyxstark 18:972d29c668a5 286 ascenseur_D[i] = VIT_COURROIE_BAS_V;
kyxstark 18:972d29c668a5 287 ascenseur_G[i] = VIT_COURROIE_BAS_L;
kyxstark 18:972d29c668a5 288 }
kyxstark 18:972d29c668a5 289
kyxstark 18:972d29c668a5 290 ascenseur_D[3] = VIT_COURROIE_HAUT_V;
kyxstark 18:972d29c668a5 291 ascenseur_G[3] = VIT_COURROIE_HAUT_L;
kyxstark 18:972d29c668a5 292 break;
kyxstark 18:972d29c668a5 293 default:
kyxstark 18:972d29c668a5 294 for (int i=0; i<4; i++)
kyxstark 18:972d29c668a5 295 {
kyxstark 18:972d29c668a5 296 ascenseur_D[i] = 0;
kyxstark 18:972d29c668a5 297 ascenseur_G[i] = 0;
kyxstark 18:972d29c668a5 298 }
kyxstark 18:972d29c668a5 299 break;
kyxstark 18:972d29c668a5 300 }
kyxstark 18:972d29c668a5 301
kyxstark 18:972d29c668a5 302
kyxstark 18:972d29c668a5 303
kyxstark 18:972d29c668a5 304
kyxstark 8:a25a9c22ba91 305 }
kyxstark 8:a25a9c22ba91 306 #endif
kyxstark 8:a25a9c22ba91 307
marwanesaich 0:84a8c24e29ae 308 void get_etat_ventouses()
marwanesaich 0:84a8c24e29ae 309 {
marwanesaich 0:84a8c24e29ae 310 CANMessage etat_ventouses = CANMessage();
marwanesaich 0:84a8c24e29ae 311 etat_ventouses.id=HACHEUR_STATUT_VENTOUSES;
marwanesaich 0:84a8c24e29ae 312 etat_ventouses.len=2;
marwanesaich 0:84a8c24e29ae 313 etat_ventouses.format=CANStandard;
marwanesaich 0:84a8c24e29ae 314 etat_ventouses.type=CANData;
marwanesaich 2:4cc8fa2f64be 315 etat_ventouses.data[0]=0;
marwanesaich 2:4cc8fa2f64be 316 etat_ventouses.data[0]=1;
kyxstark 10:765b4ff6d721 317 for(int i = (NB_VENTOUSES - 1); i >= 0; i--){
marwanesaich 0:84a8c24e29ae 318 etat_ventouses.data[0] = (etat_ventouses.data[0]<<1) + ventouse[i]->getPompe();
marwanesaich 0:84a8c24e29ae 319 etat_ventouses.data[1] = (etat_ventouses.data[1]<<1) + ventouse[i]->getPression();
marwanesaich 0:84a8c24e29ae 320 }
marwanesaich 0:84a8c24e29ae 321 can.write(etat_ventouses);
marwanesaich 0:84a8c24e29ae 322
marwanesaich 0:84a8c24e29ae 323 }