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moteur1.ino
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moteur1.ino
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/***********************/
/* MAE MOTEUR */
/***********************/
/* Swano Lab - 2017 */
/***********************/
#include "moteurs.h"
#include <Servo.h>
int MOTOR1_iEtatEnCours;
int MOTOR1_posiMotor;
int MOTOR1_LowSpeedCounter;
Servo MOTOR1_monServo;
void MOTOR1_MAE_SETUP(void)
{
MOTOR1_monServo.attach(2);
MOTOR1_posiMotor = 0;
MOTOR1_LowSpeedCounter = 0;
}
void MOTOR1_Etat_Arrete(void)
{
MOTOR1_LowSpeedCounter = 0;
}
void MOTOR1_Etat_Sens1(void)
{
MOTOR1_LowSpeedCounter ++;
if ( MOTOR1_LowSpeedCounter == MOTOR_DELAY)
{
MOTOR1_LowSpeedCounter = 0;
if ( MOTOR1_posiMotor < 90)
{
MOTOR1_posiMotor ++;
}
else
{
MOTOR1_iEtatEnCours = ETAT_ARRETE;
}
}
}
void MOTOR1_Etat_Sens2(void)
{
MOTOR1_LowSpeedCounter ++;
if ( MOTOR1_LowSpeedCounter == MOTOR_DELAY)
{
MOTOR1_LowSpeedCounter = 0;
if ( MOTOR1_posiMotor > 0)
{
MOTOR1_posiMotor --;
}
else
{
MOTOR1_iEtatEnCours = ETAT_ARRETE;
}
}
}
void MOTOR1_GoTo_Sens1(void)
{
MOTOR1_iEtatEnCours = ETAT_SENS_1;
}
void MOTOR1_GoTo_Sens2(void)
{
MOTOR1_iEtatEnCours = ETAT_SENS_2;
}
void MOTOR1_STOP(void)
{
MOTOR1_iEtatEnCours = ETAT_ARRETE;
}
bool MOTOR1_IsMotorAt0(void)
{
return (MOTOR1_posiMotor == 0);
}
bool MOTOR1_IsMotorAt90(void)
{
return (MOTOR1_posiMotor == 90);
}
void MOTOR1_MAE(void)
{
if (MOTOR1_iEtatEnCours == ETAT_ARRETE)
{
MOTOR1_Etat_Arrete();
}
if (MOTOR1_iEtatEnCours == ETAT_SENS_1)
{
MOTOR1_Etat_Sens1();
}
if (MOTOR1_iEtatEnCours == ETAT_SENS_2)
{
MOTOR1_Etat_Sens2();
}
MOTOR1_monServo.write(MOTOR1_posiMotor);
}