Diff: Carriage.h

Revision:

2:ab0ccf9bb38c

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Carriage.h	Sun Jan 14 15:50:49 2018 +0000
@@ -0,0 +1,136 @@
+#ifndef Carriage_h
+#define Carriage_h
+
+#include "StepperMotor.h"
+
+#define Carriage_ExtSensor      99 // NON DEFINI
+#define Carriage_IntSensor      99 // NON DEFINI
+
+#define Degagement              50
+#define Ext_Barillet            1900
+#define Retrait                 100
+#define Barillet_Ascenseur      2100
+#define Ascenseur_Barillet      2100
+#define Barillet_Ext            1800
+#define Ext_Ascenseur           3800
+#define Ascenseur_Ext           3800
+
+class Carriage: public StepperMotor{
+  public:
+    Carriage(int, int, int, int, char, char);
+    ~Carriage(void);
+    void Update_Loader(unsigned char, unsigned char);
+    void Reach_Target_Loader();
+    void Origin_Loader(int);
+
+  private:
+
+};
+
+Carriage::Carriage(int OriginSensor, int stepPin, int dirPin, int EnablePin, char Pos_Min, char Pos_Max):StepperMotor(OriginSensor, stepPin, dirPin, EnablePin, Pos_Min, Pos_Max){ 
+}
+
+Carriage::~Carriage(void){
+}
+
+void Carriage::Reach_Target_Loader() {
+  if (sTargetPos == 1){
+    if (sCurrentPos == 2){
+      digitalWrite(sdirPin, LOW);
+      for(int x = 0; x < Barillet_Ext; x++){
+        digitalWrite(sstepPin,HIGH);
+        delay(1);
+        digitalWrite(sstepPin,LOW);
+        delay(1);
+      }
+    }
+    else if (sCurrentPos == 3){
+      digitalWrite(sdirPin, LOW);
+      for(int x = 0; x < Ascenseur_Ext; x++){
+        digitalWrite(sstepPin,HIGH);
+        delay(1);
+        digitalWrite(sstepPin,LOW);
+        delay(1);
+      }
+    }
+    sCurrentPos = 1;
+  }
+  else if (sTargetPos == 3){
+    if (sCurrentPos == 1){
+      digitalWrite(sdirPin, HIGH);
+      for(int x = 0; x < Ext_Ascenseur; x++){
+        digitalWrite(sstepPin,HIGH);
+        delay(1);
+        digitalWrite(sstepPin,LOW);
+        delay(1);
+      }
+    }
+    else if (sCurrentPos == 2) {
+      digitalWrite(sdirPin, HIGH);
+      for(int x = 0; x < Barillet_Ascenseur; x++) {
+        digitalWrite(sstepPin,HIGH);
+        delay(1);
+        digitalWrite(sstepPin,LOW);
+        delay(1);
+      }
+    }
+    sCurrentPos = 3;
+  }
+  else if (sTargetPos == 2){
+    if (sCurrentPos == 1){
+      digitalWrite(sdirPin, HIGH);
+      for(int x = 0; x < Ext_Barillet; x++) {
+        digitalWrite(sstepPin,HIGH);
+        delay(1);
+        digitalWrite(sstepPin,LOW);
+        delay(1);
+      }
+      digitalWrite(sdirPin, LOW);
+      for(int x = 0; x < Retrait; x++) {
+        digitalWrite(sstepPin,HIGH);
+        delay(1);
+        digitalWrite(sstepPin,LOW);
+        delay(1);
+      }
+    }
+    else if (sCurrentPos == 3) {
+      digitalWrite(sdirPin, LOW);
+      for(int x = 0; x < Ascenseur_Barillet; x++) {
+        digitalWrite(sstepPin,HIGH);
+        delay(1);
+        digitalWrite(sstepPin,LOW);
+        delay(1);
+      }
+    }
+    sCurrentPos = 2;
+  }
+}
+
+void Carriage::Update_Loader(unsigned char CurrentPos, unsigned char TargetPos) {
+  sTargetPos = TargetPos;
+  sCurrentPos = CurrentPos;
+  Reach_Target_Loader();
+  CurrentPos = sCurrentPos;
+}
+
+void Carriage::Origin_Loader(int OriginSensor) {
+  digitalWrite(sdirPin, LOW);
+  Serial.print("OriginSensor = ");
+  Serial.println(sOriginSensor);
+  while (digitalRead(sOriginSensor) == true){
+    digitalWrite(sstepPin,HIGH);
+    delay(1);
+    digitalWrite(sstepPin,LOW);
+    delay(1);
+  }
+  digitalWrite(sdirPin, HIGH);
+  for(int x = 0; x < Degagement; x++) {
+    digitalWrite(sstepPin,HIGH);
+    delay(1);
+    digitalWrite(sstepPin,LOW);
+    delay(1);
+  }
+  sCurrentPos = 1;
+}
+
+#endif
\ No newline at end of file