Saltware / Mbed 2 deprecated Water Play

Program for the water play project for the course Software Testing Practical 2016 given at the VU University

Dependencies:   mbed DRV88255 TextLCD Ping mbed-rtos

PIDController.cpp@47:a73b8640fb60, 2016-06-15 (annotated)

Committer:
joran
Date:
Wed Jun 15 11:31:18 2016 +0000
Revision:
47:a73b8640fb60
Parent:
46:7e4c1f2ab76c
Child:
49:ca6fb19fc280
Natalia's oplossing gebruiken;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
sbouber1 28:f4a4ee58d57e 1 #include "PIDController.h"
sbouber1 35:c9261391a995 2 #include "testing.h"
sbouber1 46:7e4c1f2ab76c 3 #include "LCDController.h"
sbouber1 35:c9261391a995 4
sbouber1 35:c9261391a995 5 DigitalOut heater(p18);
sbouber1 28:f4a4ee58d57e 6
sbouber1 32:1e4919a44196 7 DRV8825 mtr_fresh(p21, p27, p28, p29, p22, p23);
sbouber1 32:1e4919a44196 8 DRV8825 mtr_salt(p24, p27, p28, p29, p25, p26);
sbouber1 32:1e4919a44196 9
sbouber1 32:1e4919a44196 10
joran 44:7c932cc5991b 11
joran 44:7c932cc5991b 12
sbouber1 28:f4a4ee58d57e 13 // This is called in the main loop on every iteration
sbouber1 28:f4a4ee58d57e 14 void PIDController::update() {
sbouber1 35:c9261391a995 15
sbouber1 38:930469a33001 16 #ifndef RUN_TESTS
sbouber1 38:930469a33001 17 if(this->num_iters < STARTUP_ITERATIONS) {
sbouber1 38:930469a33001 18 printf("PIDController: not running, startup phase");
sbouber1 38:930469a33001 19 return;
sbouber1 38:930469a33001 20 }
sbouber1 38:930469a33001 21 #endif
sbouber1 38:930469a33001 22
sbouber1 35:c9261391a995 23 // Control the heater
sbouber1 35:c9261391a995 24 // This could be done in the pumping function as well, if needed
sbouber1 36:8aeb014bd651 25 this->set_heating(this->temp->getValue() < 32.0f);
sbouber1 35:c9261391a995 26
sbouber1 28:f4a4ee58d57e 27 float s = this->salt->getValue();
sbouber1 32:1e4919a44196 28 float sInGrams = this->getSaltInGrams();
sbouber1 30:cf12566013a5 29
sbouber1 32:1e4919a44196 30 if(s <= 6.0) {
sbouber1 30:cf12566013a5 31
sbouber1 32:1e4919a44196 32 float ml = this->getMlSaltyWater(sInGrams, this->proximity->getValue());
sbouber1 35:c9261391a995 33 int ml_int = static_cast<int>(ml);
sbouber1 30:cf12566013a5 34
sbouber1 35:c9261391a995 35 printf("PIDCONTROLLER: need to pump %d (%.3f) ml of salty water\r\n", ml_int, ml);
sbouber1 30:cf12566013a5 36
sbouber1 35:c9261391a995 37 //this->pump_salt_water(ml_int);
sbouber1 30:cf12566013a5 38
sbouber1 32:1e4919a44196 39 } else if(s >= 9.0) {
sbouber1 32:1e4919a44196 40
sbouber1 32:1e4919a44196 41 float ml = this->getMlFreshWater(s, this->proximity->getValue());
sbouber1 35:c9261391a995 42 int ml_int = static_cast<int>(ml);
sbouber1 32:1e4919a44196 43
sbouber1 35:c9261391a995 44 printf("PIDCONTROLLER: need to pump %d (%.3f) ml of fresh water\r\n", ml_int, ml);
sbouber1 35:c9261391a995 45
sbouber1 35:c9261391a995 46 //this->pump_fresh_water(ml_int);
sbouber1 32:1e4919a44196 47
sbouber1 30:cf12566013a5 48 }
sbouber1 28:f4a4ee58d57e 49 }
sbouber1 28:f4a4ee58d57e 50
sbouber1 28:f4a4ee58d57e 51 std::string PIDController::get_name() {
sbouber1 30:cf12566013a5 52 return "PIDController";
sbouber1 28:f4a4ee58d57e 53 }
sbouber1 28:f4a4ee58d57e 54
joran 29:2b256a7ce0ae 55 //get the salt in the body in grams
joran 29:2b256a7ce0ae 56 float PIDController::getSaltInGrams()
joran 29:2b256a7ce0ae 57 {
joran 29:2b256a7ce0ae 58 float currentppt = this->salt->getValue(); //in ppt
joran 29:2b256a7ce0ae 59 float currentvol = this->proximity->getValue(); //in ml
joran 29:2b256a7ce0ae 60
sbouber1 35:c9261391a995 61 return currentppt * (currentvol / 1000);
joran 29:2b256a7ce0ae 62 }
joran 29:2b256a7ce0ae 63
joran 29:2b256a7ce0ae 64
sbouber1 32:1e4919a44196 65 void PIDController::pump_salt_water(int ml) {
sbouber1 32:1e4919a44196 66 this->pump_water(&mtr_salt, ml);
sbouber1 32:1e4919a44196 67 }
sbouber1 32:1e4919a44196 68
sbouber1 32:1e4919a44196 69
sbouber1 32:1e4919a44196 70 void PIDController::pump_fresh_water(int ml) {
sbouber1 32:1e4919a44196 71 this->pump_water(&mtr_fresh, ml);
sbouber1 32:1e4919a44196 72 }
sbouber1 32:1e4919a44196 73
sbouber1 32:1e4919a44196 74 void PIDController::pump_water(DRV8825 *mtr, int ml) {
joran 44:7c932cc5991b 75 LCDController::showPumping();
joran 40:1668630544c7 76 this->pumping = true;
sbouber1 32:1e4919a44196 77 int j = 5010 * (ml - 1);
sbouber1 32:1e4919a44196 78
sbouber1 32:1e4919a44196 79 for (int i = 500; i < MAX_SPEED; i += 5) {
sbouber1 46:7e4c1f2ab76c 80 mtr->settings(1 / MICROSTEPS_PER_STEP, RIGHT, i);
sbouber1 46:7e4c1f2ab76c 81 }
sbouber1 46:7e4c1f2ab76c 82
sbouber1 46:7e4c1f2ab76c 83 for (int i = 0; i < 2010 + j; i += 1) {
sbouber1 46:7e4c1f2ab76c 84 mtr->settings(1 / MICROSTEPS_PER_STEP, RIGHT, 8000);
sbouber1 46:7e4c1f2ab76c 85 }
sbouber1 46:7e4c1f2ab76c 86
sbouber1 46:7e4c1f2ab76c 87 for (int i = 8000; i > 500; i -= 5) {
sbouber1 46:7e4c1f2ab76c 88 mtr->settings(1 / MICROSTEPS_PER_STEP, RIGHT, i);
sbouber1 46:7e4c1f2ab76c 89 }
sbouber1 46:7e4c1f2ab76c 90
sbouber1 46:7e4c1f2ab76c 91 wait(5);
sbouber1 46:7e4c1f2ab76c 92
sbouber1 46:7e4c1f2ab76c 93 for (int i = 500; i < MAX_SPEED; i += 5) {
sbouber1 32:1e4919a44196 94 mtr->settings(1 / MICROSTEPS_PER_STEP, LEFT, i);
sbouber1 32:1e4919a44196 95 }
sbouber1 32:1e4919a44196 96
sbouber1 32:1e4919a44196 97 for (int i = 0; i < 2010 + j; i += 1) {
sbouber1 32:1e4919a44196 98 mtr->settings(1 / MICROSTEPS_PER_STEP, LEFT, 8000);
sbouber1 32:1e4919a44196 99 }
sbouber1 32:1e4919a44196 100
sbouber1 32:1e4919a44196 101 for (int i = 8000; i > 500; i -= 5) {
sbouber1 32:1e4919a44196 102 mtr->settings(1 / MICROSTEPS_PER_STEP, LEFT, i);
sbouber1 32:1e4919a44196 103 }
sbouber1 32:1e4919a44196 104
sbouber1 46:7e4c1f2ab76c 105 wait(5);
joran 40:1668630544c7 106 this->pumping = false;
sbouber1 32:1e4919a44196 107 }
sbouber1 32:1e4919a44196 108
sbouber1 32:1e4919a44196 109
sbouber1 32:1e4919a44196 110 float PIDController::getMlSaltyWater(float gramsinbody, float volumeinbody) {
sbouber1 32:1e4919a44196 111
joran 47:a73b8640fb60 112 float solutiongramperten = 1.16f; // 1.0f for our solution
sbouber1 32:1e4919a44196 113 float solvolume = 10; // 10ml
sbouber1 32:1e4919a44196 114
sbouber1 32:1e4919a44196 115 float idealpptconstant = 0.007f; //7 ppt / 1000
sbouber1 32:1e4919a44196 116 float x1 = volumeinbody * idealpptconstant;
sbouber1 32:1e4919a44196 117 float x2 = solvolume * idealpptconstant;
sbouber1 32:1e4919a44196 118
sbouber1 32:1e4919a44196 119 x1 = x1 - gramsinbody;
joran 47:a73b8640fb60 120 x2 = solutiongramperten - x2;
sbouber1 32:1e4919a44196 121
sbouber1 32:1e4919a44196 122 float outputml = (x1 / x2 * solvolume);
sbouber1 32:1e4919a44196 123
sbouber1 32:1e4919a44196 124 return outputml; // amount in ml to get 7 ppt.
sbouber1 35:c9261391a995 125 }
sbouber1 35:c9261391a995 126
sbouber1 35:c9261391a995 127 bool PIDController::is_heating() {
sbouber1 35:c9261391a995 128 return this->heating;
sbouber1 35:c9261391a995 129 }
sbouber1 35:c9261391a995 130
joran 40:1668630544c7 131 bool PIDController::is_pumping() {
joran 40:1668630544c7 132 return this->pumping;
joran 40:1668630544c7 133 }
joran 40:1668630544c7 134
sbouber1 35:c9261391a995 135 void PIDController::set_heating(bool enabled) {
sbouber1 35:c9261391a995 136 if(enabled == this->heating) return;
sbouber1 35:c9261391a995 137
sbouber1 35:c9261391a995 138 this->heating = enabled;
sbouber1 35:c9261391a995 139 if(enabled) {
sbouber1 35:c9261391a995 140 #ifdef RUN_TESTS
sbouber1 35:c9261391a995 141 printf("Should set heater to 1\r\n");
sbouber1 35:c9261391a995 142 #else
sbouber1 35:c9261391a995 143 heater = 1;
sbouber1 35:c9261391a995 144 #endif
sbouber1 35:c9261391a995 145 } else {
sbouber1 35:c9261391a995 146 #ifdef RUN_TESTS
sbouber1 35:c9261391a995 147 printf("Should set heater to 0\r\n");
sbouber1 35:c9261391a995 148 #else
sbouber1 35:c9261391a995 149 heater = 0;
sbouber1 35:c9261391a995 150 #endif
sbouber1 32:1e4919a44196 151 }
sbouber1 35:c9261391a995 152 }
sbouber1 32:1e4919a44196 153
sbouber1 32:1e4919a44196 154 float PIDController::getMlFreshWater(float ppt, float volume) {
sbouber1 32:1e4919a44196 155 return (volume * (ppt / 7.0)) - volume;
sbouber1 32:1e4919a44196 156 }
sbouber1 32:1e4919a44196 157
sbouber1 46:7e4c1f2ab76c 158 void PIDController::doTestingStuff(int ml) {
sbouber1 46:7e4c1f2ab76c 159 while(1)
sbouber1 46:7e4c1f2ab76c 160 this->pump_salt_water(ml);
sbouber1 46:7e4c1f2ab76c 161 }
sbouber1 46:7e4c1f2ab76c 162