Diff: PIDController.cpp

Revision:

46:7e4c1f2ab76c

Parent:

44:7c932cc5991b

Child:

47:a73b8640fb60

--- a/PIDController.cpp	Wed Jun 15 10:37:50 2016 +0000
+++ b/PIDController.cpp	Wed Jun 15 10:55:44 2016 +0000
@@ -1,5 +1,6 @@
 #include "PIDController.h"
 #include "testing.h"
+#include "LCDController.h"
 
 DigitalOut heater(p18);
 
@@ -76,6 +77,20 @@
     int j = 5010 * (ml - 1);
     
     for (int i = 500; i < MAX_SPEED; i += 5) {
+        mtr->settings(1 / MICROSTEPS_PER_STEP, RIGHT, i);
+    }
+    
+    for (int i = 0; i < 2010 + j; i += 1) {
+        mtr->settings(1 / MICROSTEPS_PER_STEP, RIGHT, 8000);
+    }
+    
+    for (int i = 8000; i > 500; i -= 5) {
+        mtr->settings(1 / MICROSTEPS_PER_STEP, RIGHT, i);
+    }
+    
+    wait(5);
+    
+    for (int i = 500; i < MAX_SPEED; i += 5) {
         mtr->settings(1 / MICROSTEPS_PER_STEP, LEFT, i);
     }
     
@@ -87,21 +102,7 @@
         mtr->settings(1 / MICROSTEPS_PER_STEP, LEFT, i);
     }
     
-    wait(3);
-    
-    for (int i = 500; i < MAX_SPEED; i += 5) {
-        mtr->settings(1 / MICROSTEPS_PER_STEP, RIGHT, i);
-    }
-    
-    for (int i = 0; i < 2010 + j; i += 1) {
-        mtr->settings(1 / MICROSTEPS_PER_STEP, RIGHT, 8000);
-    }
-    
-    for (int i = 8000; i > 500; i -= 5) {
-        mtr->settings(1 / MICROSTEPS_PER_STEP, RIGHT, i);
-    }
-    
-    wait(3);    
+    wait(5);    
     this->pumping = false;
 }
 
@@ -153,3 +154,8 @@
     return (volume * (ppt / 7.0)) - volume;
 }
 
+void PIDController::doTestingStuff(int ml) {
+    while(1)
+        this->pump_salt_water(ml);
+}
+