From 74c8f1318dcd9c561bcf732b074138323df2b7c1 Mon Sep 17 00:00:00 2001
From: Malaurie Bernard <mbernard@kinouby>
Date: Tue, 4 Jul 2023 14:23:29 +0200
Subject: [PATCH] Implementation of the method run_from_emergency and change
manage_emergency to take it into account.
---
syringefilled.cpp | 25 ++++++++++++++++++++-----
syringefilled.h | 5 ++---
2 files changed, 22 insertions(+), 8 deletions(-)
diff --git a/syringefilled.cpp b/syringefilled.cpp
index 2612d47..6607d37 100644
--- a/syringefilled.cpp
+++ b/syringefilled.cpp
@@ -179,21 +179,20 @@ void SyringeFilled::manage_emergency (bool pressed, bool at_zero)
{
if (pressed) //if the limit switch is pressed
{
+ set_emergency(true);
if (at_zero) //if we are at te initialisation place
{
- Serial.printf("EMERGENCY: running away slowly\n");
- setSpeedMmPerSec(-1);
- resetPosition();
- moveToMm(syringe_pump_length_mm);
+ run_from_emergency()
}
else
{
- Serial.printf("EMERGENCY: Pressed by someone\n");
+ Serial.printf("EMERGENCY: Pressed by someone\n");
}
}
else
{
+ set_emergency(false);
Serial.printf("EMERGENCY: released\n");
stayHere();
resetPosition(); //zero is here again
@@ -202,3 +201,19 @@ void SyringeFilled::manage_emergency (bool pressed, bool at_zero)
}
+void SyringeFilled::run_from_emergency()
+/***
+-Argument : /
+-Return : /
+-Action : Move the pump sloowly until the limit switch is released
+***/
+{
+if (get_emergency())
+ {
+ Serial.printf("EMERGENCY: running away slowly\n");
+ setSpeedMmPerSec(-1);
+ resetPosition();
+ moveToMm(syringe_pump_length_mm);
+ }
+
+}
\ No newline at end of file
diff --git a/syringefilled.h b/syringefilled.h
index 9a5ad67..4e4f646 100644
--- a/syringefilled.h
+++ b/syringefilled.h
@@ -48,7 +48,7 @@ class SyringeFilled : public Motor
void set_push(bool push);
void set_id_syringe(Syringe* id_syringe);
void set_screw_thread_mm(float screw_thread_mm);
- void set_clockwise_equals_forward(bool clockwise_equals_forward);
+ void set_clockwise_equals_push(bool clockwise_equals_push);
void set_emergency(bool emergency);
@@ -83,8 +83,7 @@ class SyringeFilled : public Motor
bool check_configuration(); //a implementer
void show_configuration(); //a implementer
float distance_to_volume(float distance, Syringe* id_syringe); //a implementer
- //set_emergency ? emergency() ? =ajouter un membre emergency
- //runfromEmergency ?
+ void run_from_emergency();
};
--
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