Ehhh T NUL
Dependencies: mbed bloc_io mbed-rtos html
main.cpp@3:a659bef8f6a5, 2019-10-22 (annotated)
- Committer:
- ragas
- Date:
- Tue Oct 22 14:46:28 2019 +0000
- Revision:
- 3:a659bef8f6a5
- Parent:
- 2:153d417b318b
- Child:
- 4:08e917c15d87
yo
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
superphil06 | 0:e30c9ba95bd4 | 1 | //#include "EthernetInterface.h" |
superphil06 | 0:e30c9ba95bd4 | 2 | #include <stdlib.h> |
superphil06 | 0:e30c9ba95bd4 | 3 | #include <string.h> |
superphil06 | 0:e30c9ba95bd4 | 4 | #include "mbed.h" |
superphil06 | 0:e30c9ba95bd4 | 5 | #include "rtos.h" // need for main thread sleep |
superphil06 | 0:e30c9ba95bd4 | 6 | #include "html.h" // need for html patch working with web server |
superphil06 | 0:e30c9ba95bd4 | 7 | #include "bloc_io.h" |
superphil06 | 0:e30c9ba95bd4 | 8 | #define RADIUS 0.2F // wheel size |
superphil06 | 0:e30c9ba95bd4 | 9 | #define NBPOLES 8 // magnetic pole number |
superphil06 | 0:e30c9ba95bd4 | 10 | #define DELTA_T 0.1F // speed measurement counting period |
ragas | 1:545a3d6b5933 | 11 | DigitalOut valid(p21);//rajout |
ragas | 1:545a3d6b5933 | 12 | void Init(int);//rajout |
ragas | 2:153d417b318b | 13 | void lecture(void);//permet lecture intern du pld |
ragas | 1:545a3d6b5933 | 14 | Bloc_IO MyPLD(p25,p26,p5,p6,p7,p8,p9,p10,p23,p24);// instantiate object needed to communicate with PLD |
ragas | 1:545a3d6b5933 | 15 | // analog input connected to mbed |
ragas | 1:545a3d6b5933 | 16 | // valid pmw mbed pin |
ragas | 1:545a3d6b5933 | 17 | Serial pc(USBTX, USBRX); // tx, rx |
ragas | 1:545a3d6b5933 | 18 | // Top_Hall Pin |
ragas | 1:545a3d6b5933 | 19 | int valref=0 ;//rajout |
ragas | 3:a659bef8f6a5 | 20 | float min ; |
ragas | 3:a659bef8f6a5 | 21 | float max; |
ragas | 3:a659bef8f6a5 | 22 | int tout; |
ragas | 3:a659bef8f6a5 | 23 | int Hall; |
ragas | 3:a659bef8f6a5 | 24 | int direction; |
ragas | 3:a659bef8f6a5 | 25 | int FLTA; |
ragas | 3:a659bef8f6a5 | 26 | int frein; |
ragas | 3:a659bef8f6a5 | 27 | int overcurrent; |
ragas | 3:a659bef8f6a5 | 28 | float gaz; |
ragas | 3:a659bef8f6a5 | 29 | |
ragas | 3:a659bef8f6a5 | 30 | |
ragas | 1:545a3d6b5933 | 31 | //void modulo (int ); |
ragas | 1:545a3d6b5933 | 32 | |
ragas | 1:545a3d6b5933 | 33 | /************ persistent file parameters section *****************/ |
ragas | 1:545a3d6b5933 | 34 | LocalFileSystem local("local"); // Create the local filesystem under the name "local" |
superphil06 | 0:e30c9ba95bd4 | 35 | |
superphil06 | 0:e30c9ba95bd4 | 36 | |
ragas | 1:545a3d6b5933 | 37 | |
ragas | 1:545a3d6b5933 | 38 | |
superphil06 | 0:e30c9ba95bd4 | 39 | |
ragas | 1:545a3d6b5933 | 40 | |
ragas | 1:545a3d6b5933 | 41 | |
superphil06 | 0:e30c9ba95bd4 | 42 | /********************* web server section **********************************/ |
superphil06 | 0:e30c9ba95bd4 | 43 | |
superphil06 | 0:e30c9ba95bd4 | 44 | var_field_t tab_balise[10]; //une balise est présente dans le squelette |
superphil06 | 0:e30c9ba95bd4 | 45 | int giCounter=0;// acces counting |
superphil06 | 0:e30c9ba95bd4 | 46 | |
superphil06 | 0:e30c9ba95bd4 | 47 | |
superphil06 | 0:e30c9ba95bd4 | 48 | /*********************** can bus section ************/ |
ragas | 1:545a3d6b5933 | 49 | // determine message ID used to send Gaz ref over can bus |
superphil06 | 0:e30c9ba95bd4 | 50 | #define _CAN_DEBUG // used to debug can bus activity |
superphil06 | 0:e30c9ba95bd4 | 51 | //#define USE_CAN_REF // uncomment to receive gaz ref over can_bus |
superphil06 | 0:e30c9ba95bd4 | 52 | CAN can_port (p30, p29); // initialisation du Bus CAN sur les broches 30 (rd) et 29(td) for lpc1768 + mbed shield |
superphil06 | 0:e30c9ba95bd4 | 53 | bool bCan_Active=false; |
superphil06 | 0:e30c9ba95bd4 | 54 | |
superphil06 | 0:e30c9ba95bd4 | 55 | |
superphil06 | 0:e30c9ba95bd4 | 56 | |
superphil06 | 0:e30c9ba95bd4 | 57 | DigitalOut led1(LED1); //initialisation des Leds présentes sur le micro-controleur Mbed*/ |
superphil06 | 0:e30c9ba95bd4 | 58 | DigitalOut led2(LED2); |
superphil06 | 0:e30c9ba95bd4 | 59 | DigitalOut led3(LED3); // blink when can message is sent |
ragas | 1:545a3d6b5933 | 60 | DigitalOut led4(LED4); // blink when can message is received |
superphil06 | 0:e30c9ba95bd4 | 61 | |
superphil06 | 0:e30c9ba95bd4 | 62 | |
ragas | 2:153d417b318b | 63 | AnalogIn poignee (p17); |
ragas | 2:153d417b318b | 64 | FILE*pfile=NULL; |
ragas | 3:a659bef8f6a5 | 65 | Ticker guidon; |
ragas | 3:a659bef8f6a5 | 66 | |
ragas | 3:a659bef8f6a5 | 67 | |
ragas | 3:a659bef8f6a5 | 68 | void task1(void); |
ragas | 3:a659bef8f6a5 | 69 | int mode ; |
ragas | 1:545a3d6b5933 | 70 | |
superphil06 | 0:e30c9ba95bd4 | 71 | //************ local function prototypes ******************* |
superphil06 | 0:e30c9ba95bd4 | 72 | |
superphil06 | 0:e30c9ba95bd4 | 73 | |
superphil06 | 0:e30c9ba95bd4 | 74 | |
superphil06 | 0:e30c9ba95bd4 | 75 | |
superphil06 | 0:e30c9ba95bd4 | 76 | |
superphil06 | 0:e30c9ba95bd4 | 77 | |
ragas | 1:545a3d6b5933 | 78 | |
superphil06 | 0:e30c9ba95bd4 | 79 | /**************** Read persistent data from text file located on local file system ****************/ |
superphil06 | 0:e30c9ba95bd4 | 80 | |
superphil06 | 0:e30c9ba95bd4 | 81 | |
superphil06 | 0:e30c9ba95bd4 | 82 | |
superphil06 | 0:e30c9ba95bd4 | 83 | /**************** write persitant data to text file located on local file system ****************/ |
superphil06 | 0:e30c9ba95bd4 | 84 | |
superphil06 | 0:e30c9ba95bd4 | 85 | |
superphil06 | 0:e30c9ba95bd4 | 86 | |
superphil06 | 0:e30c9ba95bd4 | 87 | |
superphil06 | 0:e30c9ba95bd4 | 88 | |
superphil06 | 0:e30c9ba95bd4 | 89 | |
superphil06 | 0:e30c9ba95bd4 | 90 | //************** calibation gaz function needed to record min_gaz and max_gaz value to persistent text file ****************** |
superphil06 | 0:e30c9ba95bd4 | 91 | |
superphil06 | 0:e30c9ba95bd4 | 92 | |
superphil06 | 0:e30c9ba95bd4 | 93 | // ************top hall counting interrupt needed for speed measurement |
superphil06 | 0:e30c9ba95bd4 | 94 | |
superphil06 | 0:e30c9ba95bd4 | 95 | |
superphil06 | 0:e30c9ba95bd4 | 96 | //********************** timer interrupt for speed measurement each 100ms ************************* |
superphil06 | 0:e30c9ba95bd4 | 97 | |
ragas | 1:545a3d6b5933 | 98 | |
ragas | 1:545a3d6b5933 | 99 | |
ragas | 1:545a3d6b5933 | 100 | |
superphil06 | 0:e30c9ba95bd4 | 101 | |
superphil06 | 0:e30c9ba95bd4 | 102 | |
superphil06 | 0:e30c9ba95bd4 | 103 | //********************* Timer Interrupt for gaz ref management each 10ms ******************** |
superphil06 | 0:e30c9ba95bd4 | 104 | |
superphil06 | 0:e30c9ba95bd4 | 105 | |
superphil06 | 0:e30c9ba95bd4 | 106 | |
superphil06 | 0:e30c9ba95bd4 | 107 | /********* main cgi function used to patch data to the web server thread **********************************/ |
superphil06 | 0:e30c9ba95bd4 | 108 | void CGI_Function(void) // cgi function that patch web data to empty web page |
ragas | 1:545a3d6b5933 | 109 | { |
ragas | 1:545a3d6b5933 | 110 | char ma_chaine4[20]= {}; // needed to form html response |
superphil06 | 0:e30c9ba95bd4 | 111 | |
superphil06 | 0:e30c9ba95bd4 | 112 | } |
ragas | 1:545a3d6b5933 | 113 | |
ragas | 1:545a3d6b5933 | 114 | |
ragas | 1:545a3d6b5933 | 115 | /*********************** CAN BUS SECTION **********************/ |
ragas | 1:545a3d6b5933 | 116 | |
superphil06 | 0:e30c9ba95bd4 | 117 | |
superphil06 | 0:e30c9ba95bd4 | 118 | |
superphil06 | 0:e30c9ba95bd4 | 119 | void CAN_REC_THREAD(void const *args) |
ragas | 1:545a3d6b5933 | 120 | { |
ragas | 1:545a3d6b5933 | 121 | int iCount,iError; |
superphil06 | 0:e30c9ba95bd4 | 122 | |
ragas | 1:545a3d6b5933 | 123 | while (bCan_Active) { |
ragas | 1:545a3d6b5933 | 124 | Thread::wait(100);// wait 100ms |
ragas | 1:545a3d6b5933 | 125 | // code todo |
ragas | 1:545a3d6b5933 | 126 | |
superphil06 | 0:e30c9ba95bd4 | 127 | } |
ragas | 1:545a3d6b5933 | 128 | |
superphil06 | 0:e30c9ba95bd4 | 129 | } |
ragas | 1:545a3d6b5933 | 130 | |
ragas | 1:545a3d6b5933 | 131 | |
ragas | 1:545a3d6b5933 | 132 | |
superphil06 | 0:e30c9ba95bd4 | 133 | //*************************** main function ***************************************** |
ragas | 1:545a3d6b5933 | 134 | int main() |
ragas | 1:545a3d6b5933 | 135 | { |
ragas | 2:153d417b318b | 136 | //int x; |
ragas | 2:153d417b318b | 137 | //int data_in; |
ragas | 2:153d417b318b | 138 | char cChoix; |
ragas | 1:545a3d6b5933 | 139 | valid.write(0); |
ragas | 1:545a3d6b5933 | 140 | MyPLD.write(0); |
ragas | 1:545a3d6b5933 | 141 | valid.write(1); |
ragas | 2:153d417b318b | 142 | float gaz; |
ragas | 3:a659bef8f6a5 | 143 | mode=0; |
ragas | 3:a659bef8f6a5 | 144 | |
ragas | 2:153d417b318b | 145 | FILE* pfile = fopen ("/local/ragas.txt","r"); |
ragas | 2:153d417b318b | 146 | if(pfile!=NULL) { |
ragas | 2:153d417b318b | 147 | fscanf(pfile,"min=%f max=%f", &min,&max); |
ragas | 2:153d417b318b | 148 | pc.printf("\n min=%f max=%f", min,max); |
ragas | 2:153d417b318b | 149 | } else { |
ragas | 2:153d417b318b | 150 | pc.printf("erreur"); |
ragas | 2:153d417b318b | 151 | } |
ragas | 2:153d417b318b | 152 | fclose(pfile); // close file |
ragas | 3:a659bef8f6a5 | 153 | guidon.attach(&task1,0.05); |
superphil06 | 0:e30c9ba95bd4 | 154 | |
superphil06 | 0:e30c9ba95bd4 | 155 | |
superphil06 | 0:e30c9ba95bd4 | 156 | |
superphil06 | 0:e30c9ba95bd4 | 157 | |
superphil06 | 0:e30c9ba95bd4 | 158 | //***************************************** web section ********************************************/ |
superphil06 | 0:e30c9ba95bd4 | 159 | //Init_Web_Server(&CGI_Function); // create and initialize tcp server socket and pass function pointer to local CGI function |
superphil06 | 0:e30c9ba95bd4 | 160 | //Thread WebThread(Web_Server_Thread);// create and launch web server thread |
ragas | 1:545a3d6b5933 | 161 | /********* main cgi function used to patch data to the web server thread **********************************/ |
superphil06 | 0:e30c9ba95bd4 | 162 | |
ragas | 1:545a3d6b5933 | 163 | //******************************************* end web section ************************************* / |
superphil06 | 0:e30c9ba95bd4 | 164 | |
superphil06 | 0:e30c9ba95bd4 | 165 | |
superphil06 | 0:e30c9ba95bd4 | 166 | |
superphil06 | 0:e30c9ba95bd4 | 167 | |
ragas | 1:545a3d6b5933 | 168 | pc.printf(" programme scooter mbed \n"); |
superphil06 | 0:e30c9ba95bd4 | 169 | |
superphil06 | 0:e30c9ba95bd4 | 170 | |
superphil06 | 0:e30c9ba95bd4 | 171 | |
superphil06 | 0:e30c9ba95bd4 | 172 | //********************* can bus section initialisation ******************************************* |
superphil06 | 0:e30c9ba95bd4 | 173 | //bCan_Active=true;// needed to lauchn CAN thread |
superphil06 | 0:e30c9ba95bd4 | 174 | //Thread CanThread(CAN_REC_THREAD);// create and launch can receiver thread |
superphil06 | 0:e30c9ba95bd4 | 175 | //********************* end can bus section ***************************************************** |
superphil06 | 0:e30c9ba95bd4 | 176 | |
ragas | 2:153d417b318b | 177 | |
ragas | 1:545a3d6b5933 | 178 | while(cChoix!='q' and cChoix!='Q' /*and cChoix='c'*/) { |
ragas | 2:153d417b318b | 179 | |
ragas | 1:545a3d6b5933 | 180 | pc.printf(" veuillez saisir un choix parmi la liste proposee: \r\n"); |
ragas | 1:545a3d6b5933 | 181 | pc.printf(" a:saisie consigne pwm \r\n"); |
ragas | 1:545a3d6b5933 | 182 | pc.printf(" c:lecture interne \r\n"); |
ragas | 2:153d417b318b | 183 | pc.printf(" b:calibration \r\n"); |
ragas | 3:a659bef8f6a5 | 184 | |
ragas | 3:a659bef8f6a5 | 185 | pc.printf(" m:mode \r\n"); |
ragas | 1:545a3d6b5933 | 186 | pc.printf(" q:quitter \r\n"); |
superphil06 | 0:e30c9ba95bd4 | 187 | |
ragas | 1:545a3d6b5933 | 188 | /************* multithreading : main thread need to sleep in order to allow web response */ |
ragas | 1:545a3d6b5933 | 189 | while (pc.readable()==0) { // determine if char availabler |
ragas | 1:545a3d6b5933 | 190 | Thread::wait(10); // wait 10 until char available on serial input |
ragas | 1:545a3d6b5933 | 191 | } |
ragas | 1:545a3d6b5933 | 192 | /************* end of main thread sleep ****************/ |
ragas | 1:545a3d6b5933 | 193 | |
ragas | 1:545a3d6b5933 | 194 | pc.scanf(" %c",&cChoix); |
ragas | 1:545a3d6b5933 | 195 | switch (cChoix) { |
ragas | 1:545a3d6b5933 | 196 | case 'a': |
ragas | 2:153d417b318b | 197 | |
ragas | 1:545a3d6b5933 | 198 | printf("donne moi une valeur de pwmref entre 0 et 255:"); |
ragas | 1:545a3d6b5933 | 199 | scanf("%d",&valref); |
ragas | 2:153d417b318b | 200 | if(valref<=255) { |
ragas | 2:153d417b318b | 201 | MyPLD.write(valref); |
ragas | 2:153d417b318b | 202 | } else { |
ragas | 1:545a3d6b5933 | 203 | valref=0; |
ragas | 3:a659bef8f6a5 | 204 | //MyPLD.write(valref); |
ragas | 1:545a3d6b5933 | 205 | printf("valeur entre 0 et 255"); |
ragas | 2:153d417b318b | 206 | } |
ragas | 1:545a3d6b5933 | 207 | break; |
ragas | 1:545a3d6b5933 | 208 | case 'c' : |
ragas | 1:545a3d6b5933 | 209 | lecture(); |
ragas | 2:153d417b318b | 210 | break; |
ragas | 2:153d417b318b | 211 | case 'b': |
ragas | 2:153d417b318b | 212 | printf("mettre au min et appuyer sur une touche quand termine\n\r"); |
ragas | 2:153d417b318b | 213 | getchar(); |
ragas | 2:153d417b318b | 214 | min=poignee.read(); |
ragas | 2:153d417b318b | 215 | printf("min=%f\n\r",min); |
ragas | 2:153d417b318b | 216 | printf("vmettre au max max et appuyer sur une touche quand termine\n\r"); |
ragas | 2:153d417b318b | 217 | getchar(); |
ragas | 2:153d417b318b | 218 | max=poignee.read(); |
ragas | 2:153d417b318b | 219 | printf("max%f\n\r",max); |
ragas | 2:153d417b318b | 220 | FILE* pfile = fopen ("/local/ragas.txt","w"); |
ragas | 2:153d417b318b | 221 | if(pfile!=NULL) |
ragas | 2:153d417b318b | 222 | fprintf(pfile,"min=%f max=%f", min,max); |
ragas | 2:153d417b318b | 223 | fclose(pfile); // close file |
ragas | 1:545a3d6b5933 | 224 | break; |
ragas | 2:153d417b318b | 225 | |
ragas | 2:153d417b318b | 226 | |
ragas | 3:a659bef8f6a5 | 227 | case 'm': |
ragas | 3:a659bef8f6a5 | 228 | do { |
ragas | 3:a659bef8f6a5 | 229 | printf("choisissez un mode :0 pour automatique et 1 pour manuel"); |
ragas | 3:a659bef8f6a5 | 230 | scanf("%d",&mode); |
ragas | 3:a659bef8f6a5 | 231 | } while(mode<0 || mode >1); |
ragas | 3:a659bef8f6a5 | 232 | break ; |
ragas | 2:153d417b318b | 233 | case 'q': |
ragas | 2:153d417b318b | 234 | valid.write(0); |
ragas | 2:153d417b318b | 235 | MyPLD.write(0); |
ragas | 3:a659bef8f6a5 | 236 | guidon.detach(); |
ragas | 2:153d417b318b | 237 | break; |
ragas | 2:153d417b318b | 238 | /* case 'q': |
ragas | 2:153d417b318b | 239 | |
ragas | 2:153d417b318b | 240 | frein.read(); |
ragas | 2:153d417b318b | 241 | DigitalIn flta.read(); |
ragas | 2:153d417b318b | 242 | DigitalIn overcurrent.read(); |
ragas | 2:153d417b318b | 243 | DigitalIn direction.read(); |
ragas | 2:153d417b318b | 244 | HALLA.read(); |
ragas | 2:153d417b318b | 245 | HALLB.read(); |
ragas | 2:153d417b318b | 246 | HALLC.read(); |
ragas | 2:153d417b318b | 247 | break;*/ |
ragas | 1:545a3d6b5933 | 248 | } |
ragas | 1:545a3d6b5933 | 249 | } // end while |
ragas | 1:545a3d6b5933 | 250 | |
ragas | 1:545a3d6b5933 | 251 | //************** thread deinit ********************* |
ragas | 1:545a3d6b5933 | 252 | //DeInit_Web_Server(); |
ragas | 1:545a3d6b5933 | 253 | //bCan_Active=false; |
ragas | 1:545a3d6b5933 | 254 | //CanThread=false;// close can received thread |
superphil06 | 0:e30c9ba95bd4 | 255 | pc.printf(" fin programme scooter mbed \n"); |
superphil06 | 0:e30c9ba95bd4 | 256 | } // end main |
ragas | 1:545a3d6b5933 | 257 | |
ragas | 1:545a3d6b5933 | 258 | |
ragas | 2:153d417b318b | 259 | void lecture (void) |
ragas | 2:153d417b318b | 260 | { |
ragas | 3:a659bef8f6a5 | 261 | tout = MyPLD.read(); |
ragas | 3:a659bef8f6a5 | 262 | Hall= tout & 7; |
ragas | 3:a659bef8f6a5 | 263 | direction = tout & 8; |
ragas | 3:a659bef8f6a5 | 264 | FLTA = tout & 16; |
ragas | 3:a659bef8f6a5 | 265 | frein = tout &32; |
ragas | 3:a659bef8f6a5 | 266 | overcurrent = tout &64; |
ragas | 2:153d417b318b | 267 | pc.printf("Secteur=%d \t FLTA=%d \t Direction=%d \t Frein=%d \t Overcurrent = %d\n\r",Hall,FLTA,direction,frein,overcurrent); |
ragas | 3:a659bef8f6a5 | 268 | |
ragas | 3:a659bef8f6a5 | 269 | if(direction==8) { //direction 1=av 0=ar |
ragas | 2:153d417b318b | 270 | pc.printf("direction avant\n\r"); |
ragas | 2:153d417b318b | 271 | } else { |
ragas | 2:153d417b318b | 272 | printf("direction arriere\n\r"); |
ragas | 2:153d417b318b | 273 | } |
ragas | 3:a659bef8f6a5 | 274 | |
ragas | 2:153d417b318b | 275 | if(overcurrent==64) { //overcurrent actif=0 |
ragas | 2:153d417b318b | 276 | pc.printf("surcharge de courant inactif\n\r"); |
ragas | 2:153d417b318b | 277 | } else { |
ragas | 2:153d417b318b | 278 | printf("surcharge de courant actif\n\r"); |
ragas | 2:153d417b318b | 279 | } |
ragas | 3:a659bef8f6a5 | 280 | |
ragas | 2:153d417b318b | 281 | if(FLTA == 16) { //FLTA actif=1 |
ragas | 2:153d417b318b | 282 | pc.printf("FLTA actif\n\r"); |
ragas | 2:153d417b318b | 283 | } else { |
ragas | 2:153d417b318b | 284 | printf("FLTA inactif\n\r"); |
ragas | 2:153d417b318b | 285 | } |
ragas | 3:a659bef8f6a5 | 286 | |
ragas | 2:153d417b318b | 287 | if(frein == 32) { //brake actif=0 |
ragas | 2:153d417b318b | 288 | pc.printf("Frein inactif\n\r"); |
ragas | 2:153d417b318b | 289 | } else { |
ragas | 2:153d417b318b | 290 | pc.printf("Frein actif\n\r"); |
ragas | 2:153d417b318b | 291 | } |
ragas | 1:545a3d6b5933 | 292 | } |
ragas | 1:545a3d6b5933 | 293 | |
ragas | 1:545a3d6b5933 | 294 | |
ragas | 3:a659bef8f6a5 | 295 | |
ragas | 3:a659bef8f6a5 | 296 | void task1(void) //0.05seconde |
ragas | 3:a659bef8f6a5 | 297 | { |
ragas | 3:a659bef8f6a5 | 298 | tout = MyPLD.read(); |
ragas | 3:a659bef8f6a5 | 299 | Hall= tout & 7; |
ragas | 3:a659bef8f6a5 | 300 | direction = tout & 8; |
ragas | 3:a659bef8f6a5 | 301 | FLTA = tout & 16; |
ragas | 3:a659bef8f6a5 | 302 | frein = tout &32; |
ragas | 3:a659bef8f6a5 | 303 | overcurrent = tout &64; |
ragas | 3:a659bef8f6a5 | 304 | |
ragas | 3:a659bef8f6a5 | 305 | int val=0; |
ragas | 3:a659bef8f6a5 | 306 | gaz=poignee.read(); |
ragas | 3:a659bef8f6a5 | 307 | float valPoignee=((255/(max-min))*gaz)-(min*(255)/(max-min)); |
ragas | 3:a659bef8f6a5 | 308 | if(mode==0) { //mode auto |
ragas | 3:a659bef8f6a5 | 309 | if(frein==0) { //frein actif |
ragas | 3:a659bef8f6a5 | 310 | val=0; |
ragas | 3:a659bef8f6a5 | 311 | } else { //frein inactif |
ragas | 3:a659bef8f6a5 | 312 | if(val<valPoignee) { //incrémentation |
ragas | 3:a659bef8f6a5 | 313 | val=val+1; |
ragas | 3:a659bef8f6a5 | 314 | } else { //bonne valeur |
ragas | 3:a659bef8f6a5 | 315 | val=valPoignee; |
ragas | 3:a659bef8f6a5 | 316 | } |
ragas | 3:a659bef8f6a5 | 317 | } |
ragas | 3:a659bef8f6a5 | 318 | } else { //mode manuel |
ragas | 3:a659bef8f6a5 | 319 | val=valref; //valeurs dans le case "a" |
ragas | 3:a659bef8f6a5 | 320 | } |
ragas | 3:a659bef8f6a5 | 321 | MyPLD.write(val); |
ragas | 3:a659bef8f6a5 | 322 | } |
ragas | 3:a659bef8f6a5 | 323 |