axialMotor.h

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class axialMotor
{
  public:
  axialMotor(int enAPin, int motorInitialState,int pinCWOutputValue, int pinCCWOutputValue, int ProxSensor1Value,int ProxSensor2Value);
  axialMotor();
  bool shouldSlowDown();
  bool runAxialCalibration();
  void setMotorState(int stateValue);
  void setEnableDrive(bool driveValue);
  int getMotorState();
  int getDriveState();
  int getProximitySensorPin(bool sensorNumber);
  int getProximitySensorValue(bool sensorNumber);
  int getMotorPin(int directionNumber);
  int getDrivePin();
  
  private:
  int motorState;
  int enAPin; //digital pin for enabling the motor control
  int pinCWOutput; //Pin for CW control (#1)
  int pinCCWOutput; //Pin for CCW control (#2)
  int proximitySensor1Pin; //Connected pin for sensor #1
  int proximitySensor2Pin; //Connected pin for sensor #2s
};

axialMotor::axialMotor(int enAPinValue, int motorInitialState,int pinCWOutputValue, int pinCCWOutputValue, int ProxSensor1Value,int ProxSensor2Value)
{
  motorState = motorInitialState;
  //setMotorState(motorState);
  enAPin = enAPinValue;
  pinCWOutput = pinCWOutputValue;
  pinCCWOutput = pinCCWOutputValue;  
  proximitySensor1Pin = ProxSensor1Value;
  proximitySensor2Pin = ProxSensor2Value;

}

axialMotor::axialMotor()
{
  motorState = -1;
  //setMotorState(motorState);
  enAPin = 45;
  pinCWOutput = 47;
  pinCCWOutput = 49;  
  proximitySensor1Pin = 51;
  proximitySensor2Pin = 53;
}

bool axialMotor::shouldSlowDown()
{
 int proximitySensor1Reading = digitalRead(getProximitySensorPin(1)); //defines the input to pins #51. The input is HIGH when nothing is capted this is the top sensor
  //Serial.print("la valeur de proximite est de :");
  //Serial.print(proximitySensor1Reading);
  if (proximitySensor1Reading == false && getMotorState() == true || getMotorState() == -1)
  {
   // Serial.print("Je lis le capteur et le moteur monte");
    return true;
  }

  else if (proximitySensor1Reading == false && getMotorState() == false)
  {
    //Serial.print("Je lis le capteur et le moteur DESCEND");
    return false;
  }
  else
  {
    return false;
  }
 int proximitySensor2Reading = digitalRead(getProximitySensorPin(2)); //defines the input to pin #53. The input is HIGH when nothing is capted
 //Serial.print("TU ENTRE EN CAPTEUR 2!");

  if (proximitySensor2Reading == false && getMotorState() == true)
  {
  //  Serial.print("CAPTEUR 2 UNDER CONSTRUCTION");
    return false;
  }

  else if (proximitySensor2Reading == false && getMotorState() == false || getMotorState() == -1)
  {
   // Serial.print("CAPTEUR 2 UNDER CONSTRUCTION");
    return true;
  }
  
  else
  {
    return false;
  }
}

bool axialMotor::runAxialCalibration()
{
    setMotorState(1);
    //Serial.print("le moteur tourne maintenant");
    while (shouldSlowDown() == false)
    {
       if (shouldSlowDown() == true)
        {
           setMotorState(-1);
           return true; 
        }
    }
  return false;

}

void axialMotor::setMotorState(int stateValue)
{
  //Serial.println("JE PASSE ICI");
    //Serial.println(stateValue);

  if (stateValue != -1 && stateValue != 1 && stateValue != 0)
     {
        //Serial.println("MAUVAISE ENTRÉE, MAINTENANT MOTORSTATE SERA DE :");
        
        stateValue = -1; //doesn't move the motor
     }
  //Serial.println("STATE VALUE correct");
  motorState = stateValue; //Sets the motor value to the new direction value.
   
  if (motorState == 1) //Changes the motor rotation by changing output pin value.
     {
       //Serial.println("ICI SI LE STATE VALUE EST DE 1");
       
       digitalWrite(getMotorPin(1),HIGH);
       digitalWrite(getMotorPin(2),LOW);
       //Serial.print(digitalRead(getMotorPin(1)));
       //Serial.print(digitalRead(getMotorPin(2)));
     }
     
  else if (motorState == 0)
     {
      // Serial.println("ICI SI LE STATE VALUE EST DE 0");
       digitalWrite(getMotorPin(2),HIGH);
       digitalWrite(getMotorPin(1),LOW);
     }
       /* for(int motorValue = 0 ; motorValue <= 255; motorValue +=5)  //CECI EST A ADAPTER POUR ANALOG
        {
          analogWrite(motorPin, motorValue); 
          delay(30);    
        } */
     
  else if (motorState == -1)
     {
      // Serial.print("ICI SI LE STATE VALUE EST DE -1");
       digitalWrite(getMotorPin(2),LOW);
       digitalWrite(getMotorPin(1),LOW);
     }
}

int axialMotor::getMotorState()
{
  return motorState;
}

int axialMotor::getProximitySensorPin(bool sensorNumber)
{
  if (sensorNumber == 1)
  {
    return proximitySensor1Pin;
  }
  
  else if (sensorNumber == 2)
  {
    return proximitySensor2Pin;
  }
}

int axialMotor::getProximitySensorValue(bool sensorNumber)
{
  if (sensorNumber == 1)
  {
    return digitalRead(proximitySensor1Pin);
  }
  
  else if (sensorNumber == 2)
  {
    return digitalRead(proximitySensor2Pin);
  }
}

int axialMotor::getMotorPin(int directionNumber)
{
  if (directionNumber == 1)
  {
    return pinCWOutput;
  }
  else if (directionNumber == 2)
  {
    return pinCCWOutput;
  }

  else
  {
    return -1;
  }
}

void axialMotor::setEnableDrive(bool driveValue)
{
  if (driveValue == true)
  {
    digitalWrite(enAPin,HIGH);
  }
  else if (driveValue== false)
  {
    digitalWrite(enAPin,LOW);
  }
  else
  {
    digitalWrite(enAPin,LOW);
  }
}

int axialMotor::getDriveState()
{
  return digitalRead(enAPin);
}

int axialMotor::getDrivePin()
{
  return enAPin;
}