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@35:c9261391a995, 2016-06-14 (annotated)

Committer:
sbouber1
Date:
Tue Jun 14 15:31:30 2016 +0000
Revision:
35:c9261391a995
Parent:
32:1e4919a44196
Child:
36:8aeb014bd651
Heating in PIDController

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 35:c9261391a995 3
sbouber1 35:c9261391a995 4 DigitalOut heater(p18);
sbouber1 28:f4a4ee58d57e 5
sbouber1 32:1e4919a44196 6 DRV8825 mtr_fresh(p21, p27, p28, p29, p22, p23);
sbouber1 32:1e4919a44196 7 DRV8825 mtr_salt(p24, p27, p28, p29, p25, p26);
sbouber1 32:1e4919a44196 8
sbouber1 32:1e4919a44196 9
sbouber1 28:f4a4ee58d57e 10 // This is called in the main loop on every iteration
sbouber1 28:f4a4ee58d57e 11 void PIDController::update() {
sbouber1 35:c9261391a995 12
sbouber1 35:c9261391a995 13 // Control the heater
sbouber1 35:c9261391a995 14 // This could be done in the pumping function as well, if needed
sbouber1 35:c9261391a995 15 this->set_heating(temp->getValue() < 32.0f);
sbouber1 35:c9261391a995 16
sbouber1 28:f4a4ee58d57e 17 float s = this->salt->getValue();
sbouber1 32:1e4919a44196 18 float sInGrams = this->getSaltInGrams();
sbouber1 30:cf12566013a5 19
sbouber1 32:1e4919a44196 20 if(s <= 6.0) {
sbouber1 30:cf12566013a5 21
sbouber1 32:1e4919a44196 22 float ml = this->getMlSaltyWater(sInGrams, this->proximity->getValue());
sbouber1 35:c9261391a995 23 int ml_int = static_cast<int>(ml);
sbouber1 30:cf12566013a5 24
sbouber1 35:c9261391a995 25 printf("PIDCONTROLLER: need to pump %d (%.3f) ml of salty water\r\n", ml_int, ml);
sbouber1 30:cf12566013a5 26
sbouber1 35:c9261391a995 27 //this->pump_salt_water(ml_int);
sbouber1 30:cf12566013a5 28
sbouber1 32:1e4919a44196 29 } else if(s >= 9.0) {
sbouber1 32:1e4919a44196 30
sbouber1 32:1e4919a44196 31 float ml = this->getMlFreshWater(s, this->proximity->getValue());
sbouber1 35:c9261391a995 32 int ml_int = static_cast<int>(ml);
sbouber1 32:1e4919a44196 33
sbouber1 35:c9261391a995 34 printf("PIDCONTROLLER: need to pump %d (%.3f) ml of fresh water\r\n", ml_int, ml);
sbouber1 35:c9261391a995 35
sbouber1 35:c9261391a995 36 //this->pump_fresh_water(ml_int);
sbouber1 32:1e4919a44196 37
sbouber1 30:cf12566013a5 38 }
sbouber1 28:f4a4ee58d57e 39 }
sbouber1 28:f4a4ee58d57e 40
sbouber1 28:f4a4ee58d57e 41 std::string PIDController::get_name() {
sbouber1 30:cf12566013a5 42 return "PIDController";
sbouber1 28:f4a4ee58d57e 43 }
sbouber1 28:f4a4ee58d57e 44
joran 29:2b256a7ce0ae 45 //get the salt in the body in grams
joran 29:2b256a7ce0ae 46 float PIDController::getSaltInGrams()
joran 29:2b256a7ce0ae 47 {
joran 29:2b256a7ce0ae 48 float currentppt = this->salt->getValue(); //in ppt
joran 29:2b256a7ce0ae 49 float currentvol = this->proximity->getValue(); //in ml
joran 29:2b256a7ce0ae 50
sbouber1 35:c9261391a995 51 return currentppt * (currentvol / 1000);
joran 29:2b256a7ce0ae 52 }
joran 29:2b256a7ce0ae 53
joran 29:2b256a7ce0ae 54
sbouber1 32:1e4919a44196 55 void PIDController::pump_salt_water(int ml) {
sbouber1 32:1e4919a44196 56 this->pump_water(&mtr_salt, ml);
sbouber1 32:1e4919a44196 57 }
sbouber1 32:1e4919a44196 58
sbouber1 32:1e4919a44196 59
sbouber1 32:1e4919a44196 60 void PIDController::pump_fresh_water(int ml) {
sbouber1 32:1e4919a44196 61 this->pump_water(&mtr_fresh, ml);
sbouber1 32:1e4919a44196 62 }
sbouber1 32:1e4919a44196 63
sbouber1 32:1e4919a44196 64 void PIDController::pump_water(DRV8825 *mtr, int ml) {
sbouber1 35:c9261391a995 65
sbouber1 32:1e4919a44196 66 int j = 5010 * (ml - 1);
sbouber1 32:1e4919a44196 67
sbouber1 32:1e4919a44196 68 for (int i = 500; i < MAX_SPEED; i += 5) {
sbouber1 32:1e4919a44196 69 mtr->settings(1 / MICROSTEPS_PER_STEP, LEFT, i);
sbouber1 32:1e4919a44196 70 }
sbouber1 32:1e4919a44196 71
sbouber1 32:1e4919a44196 72 for (int i = 0; i < 2010 + j; i += 1) {
sbouber1 32:1e4919a44196 73 mtr->settings(1 / MICROSTEPS_PER_STEP, LEFT, 8000);
sbouber1 32:1e4919a44196 74 }
sbouber1 32:1e4919a44196 75
sbouber1 32:1e4919a44196 76 for (int i = 8000; i > 500; i -= 5) {
sbouber1 32:1e4919a44196 77 mtr->settings(1 / MICROSTEPS_PER_STEP, LEFT, i);
sbouber1 32:1e4919a44196 78 }
sbouber1 32:1e4919a44196 79
sbouber1 32:1e4919a44196 80 wait(3);
sbouber1 32:1e4919a44196 81
sbouber1 32:1e4919a44196 82 for (int i = 500; i < MAX_SPEED; i += 5) {
sbouber1 32:1e4919a44196 83 mtr->settings(1 / MICROSTEPS_PER_STEP, RIGHT, i);
sbouber1 32:1e4919a44196 84 }
sbouber1 32:1e4919a44196 85
sbouber1 32:1e4919a44196 86 for (int i = 0; i < 2010 + j; i += 1) {
sbouber1 32:1e4919a44196 87 mtr->settings(1 / MICROSTEPS_PER_STEP, RIGHT, 8000);
sbouber1 32:1e4919a44196 88 }
sbouber1 32:1e4919a44196 89
sbouber1 32:1e4919a44196 90 for (int i = 8000; i > 500; i -= 5) {
sbouber1 32:1e4919a44196 91 mtr->settings(1 / MICROSTEPS_PER_STEP, RIGHT, i);
sbouber1 32:1e4919a44196 92 }
sbouber1 32:1e4919a44196 93
sbouber1 35:c9261391a995 94 wait(3);
sbouber1 32:1e4919a44196 95 }
sbouber1 32:1e4919a44196 96
sbouber1 32:1e4919a44196 97
sbouber1 32:1e4919a44196 98 float PIDController::getMlSaltyWater(float gramsinbody, float volumeinbody) {
sbouber1 32:1e4919a44196 99
sbouber1 32:1e4919a44196 100 float solvolume = 10; // 10ml
sbouber1 32:1e4919a44196 101
sbouber1 32:1e4919a44196 102 float idealpptconstant = 0.007f; //7 ppt / 1000
sbouber1 32:1e4919a44196 103 float x1 = volumeinbody * idealpptconstant;
sbouber1 32:1e4919a44196 104 float x2 = solvolume * idealpptconstant;
sbouber1 32:1e4919a44196 105
sbouber1 32:1e4919a44196 106 x1 = x1 - gramsinbody;
sbouber1 32:1e4919a44196 107 x2 = 1 - x2;
sbouber1 32:1e4919a44196 108
sbouber1 32:1e4919a44196 109 float outputml = (x1 / x2 * solvolume);
sbouber1 32:1e4919a44196 110
sbouber1 32:1e4919a44196 111 return outputml; // amount in ml to get 7 ppt.
sbouber1 35:c9261391a995 112 }
sbouber1 35:c9261391a995 113
sbouber1 35:c9261391a995 114 bool PIDController::is_heating() {
sbouber1 35:c9261391a995 115 return this->heating;
sbouber1 35:c9261391a995 116 }
sbouber1 35:c9261391a995 117
sbouber1 35:c9261391a995 118 void PIDController::set_heating(bool enabled) {
sbouber1 35:c9261391a995 119 if(enabled == this->heating) return;
sbouber1 35:c9261391a995 120
sbouber1 35:c9261391a995 121 this->heating = enabled;
sbouber1 35:c9261391a995 122 if(enabled) {
sbouber1 35:c9261391a995 123 #ifdef RUN_TESTS
sbouber1 35:c9261391a995 124 printf("Should set heater to 1\r\n");
sbouber1 35:c9261391a995 125 #else
sbouber1 35:c9261391a995 126 heater = 1;
sbouber1 35:c9261391a995 127 #endif
sbouber1 35:c9261391a995 128 } else {
sbouber1 35:c9261391a995 129 #ifdef RUN_TESTS
sbouber1 35:c9261391a995 130 printf("Should set heater to 0\r\n");
sbouber1 35:c9261391a995 131 #else
sbouber1 35:c9261391a995 132 heater = 0;
sbouber1 35:c9261391a995 133 #endif
sbouber1 32:1e4919a44196 134 }
sbouber1 35:c9261391a995 135 }
sbouber1 32:1e4919a44196 136
sbouber1 32:1e4919a44196 137 float PIDController::getMlFreshWater(float ppt, float volume) {
sbouber1 32:1e4919a44196 138 return (volume * (ppt / 7.0)) - volume;
sbouber1 32:1e4919a44196 139 }
sbouber1 32:1e4919a44196 140