Revision 86:02e83a215e4e, committed 2018-09-13

Comitter:

POTLESS_2

Date:

Thu Sep 13 14:54:20 2018 +0000

Parent:

84:49f0acf09f67

Commit message:

reprise de compatibilit? windev

Changed in this revision

--- a/main.cpp	Mon Sep 10 09:33:38 2018 +0000
+++ b/main.cpp	Thu Sep 13 14:54:20 2018 +0000
@@ -570,10 +570,12 @@
     while (true) {
         if (FLAG_PID == 1 && EN_MODE_SECU == false) {
             control_Servo.setProcessValue(ppO2);
+            float pid_output = control_Servo.compute();
+            DEBUG("\r\n  pid_ouput = %f  \r\n", pid_output);
             //Nouvelle sortie servo poumon si on est pas en mode SECU
-            Consigne_poumon = 90 - control_Servo.compute();
+            Consigne_fuite = 90 - pid_output;//;
             // mode volets asservis (simule un seul moteur)
-            Consigne_fuite = 90 - Consigne_poumon;
+            Consigne_poumon = 90 - Consigne_fuite; //control_Servo.compute();
             wait(RATE_PID);
         }
     }
@@ -787,32 +789,32 @@
         Kc = atof(numb);
         //control_Servo.reset();
         control_Servo.setTunings(Kc, Ti, Td);
-        OUTPUT("  MAJ PID -->  Kc = %f   Ti = %f   Td = %f\r\n", Kc, Ti, Td);
+        OUTPUT("  MAJ PID --  Kc = %f   Ti = %f   Td = %f\r\n", Kc, Ti, Td);
     } else if (0 == strcmp(com, "ti")) {
         Ti = atof(numb);
         //control_Servo.reset();
         control_Servo.setTunings(Kc, Ti, Td);
-        OUTPUT("  MAJ PID -->  Kc = %f   Ti = %f   Td = %f\r\n", Kc, Ti, Td);
+        OUTPUT("  MAJ PID --  Kc = %f   Ti = %f   Td = %f\r\n", Kc, Ti, Td);
     } else if (0 == strcmp(com, "td")) {
         Td = atof(numb);
         //control_Servo.reset();
         control_Servo.setTunings(Kc, Ti, Td);
-        OUTPUT("  MAJ PID -->  Kc = %f   Ti = %f   Td = %f\r\n", Kc, Ti, Td);
+        OUTPUT("  MAJ PID --  Kc = %f   Ti = %f   Td = %f\r\n", Kc, Ti, Td);
     } else if (0 == strcmp(com, "cons")) {
         consigne = atoi(numb);
         control_Servo.setSetPoint(consigne);
-        OUTPUT("  MAJ CONSIGNE PID -->  Consigne = %d\r\n", consigne);
+        OUTPUT("  MAJ CONSIGNE PID --  Consigne = %d\r\n", consigne);
     } else if (0 == strcmp(com, "rate")) {
         RATE_PID = atof(numb);
         //control_Servo.reset();
         control_Servo.setInterval(RATE_PID);
-        OUTPUT("  MAJ RATE PID -->  Rate = %f\r\n", RATE_PID);
+        OUTPUT("  MAJ RATE PID --  Rate = %f\r\n", RATE_PID);
     } else if (0 == strcmp(com, "bornes")) {
         Borne = atof(numb);
         Min_Output = 0 + Borne;
         Max_Output = 90 - Borne;
         control_Servo.setOutputLimits(Min_Output, Max_Output);
-        OUTPUT("  MAJ LIMITE OUTPUT PID -->  Min_Output = %f   Max_Output = %f\r\n", Min_Output, Max_Output);    
+        OUTPUT("  MAJ LIMITE OUTPUT PID --  Min_Output = %f   Max_Output = %f\r\n", Min_Output, Max_Output);    
     } else if (0 == strcmp(com, "dfu")) {
         OUTPUT("  Passage en DFU...\r\n");
         FLAG_REC = false;
@@ -900,7 +902,7 @@
     HAL_Init();
     __HAL_RCC_PWR_CLK_ENABLE();
     HAL_PWR_EnableBkUpAccess();
-
+    
     //Vérifications Flag de démarrage
     UTILS::START_FLAG();
 
@@ -1094,8 +1096,7 @@
                 consigne,
                 Commande_IHM
                );
-
-
+         
         //Pour windev
         if (FLAG_WINDEV) {
             OUTPUT("%s\r\n", to_store);