MurphyBat.cpp

00001 /*
00002  * MurphyBat.cpp
00003  *
00004  *  Created on: 5 Aug 2017
00005  *      Author: ciscer01
00006  */
00007 
00008 #include <MurphyBat.hpp>
00009 #include <mbed.h>
00010 
00011 MurphyBat::MurphyBat(PinName Ir1, PinName Ir2, PinName Ir3, PinName Ir4, PinName Actuator):
00012         mIr1(Ir1),
00013         mIr2(Ir2),
00014         mIr3(Ir3),
00015         mIr4(Ir4),
00016         BatI(0),
00017         batActuator(Actuator),
00018         batActuratorTimout(),
00019         Fired(false) {
00020 
00021     BatIrIn[0] = &mIr1;
00022     BatIrIn[1] = &mIr2;
00023     BatIrIn[2] = &mIr3;
00024     BatIrIn[3] = &mIr4;
00025     //BatIrTh[0] = 0.5; 0.5, 0.5, 0.5),
00026     for (unsigned int i = 0; i < 4; i++){
00027         for (unsigned int j = 0; j < avg_size; j++) {
00028             BatIrVal[i][j] = 0;
00029         }
00030 
00031     }
00032     BatIrTh[0] = 0.4f - 0.05f;
00033     BatIrTh[1] = 0.3f - 0.05f;
00034     BatIrTh[2] = 0.4f - 0.05f;
00035     BatIrTh[3] = 0.3f - 0.05f;
00036     batActuator.write(0);
00037 }
00038 
00039 void MurphyBat::update() {
00040     bool fire = false;
00041     float BatIrAvg[4];
00042     for (unsigned int i = 0; (i < 4) && (fire == false); i++) {
00043         //Read the Ir value
00044         BatIrVal[i][BatI] = BatIrIn[i]->read();
00045         //start the avarage computation
00046         BatIrAvg[i] = BatIrVal[i][0];
00047         for (unsigned int j = 1; j < avg_size; j++) {
00048             BatIrAvg[i] += BatIrVal[i][j];
00049         }
00050         //Compute avarage
00051         BatIrAvg[i] = BatIrAvg[i] / avg_size;
00052         if (BatIrVal[i][BatI] > BatIrTh[i]) {
00053             fire = true;
00054         }
00055     }
00056     BatI = (BatI + 1) % avg_size;
00057     if (fire) {
00058         Fire();
00059     }
00060 }
00061 
00062 void MurphyBat::FireCb(MurphyBat *mb){
00063     mb->Fire();
00064 }
00065 
00066 void MurphyBat::Fire(void) {
00067     if (Fired == false) {
00068         Fired = true;
00069         batActuator.write(1);
00070         batActuratorTimout.attach_us(this,MurphyBat::FireCb, 200000);
00071     } else {
00072         Fired = false;
00073         batActuator.write(0);
00074         batActuratorTimout.detach();
00075     }
00076 }