Diff: PIDController.cpp

Revision:

30:cf12566013a5

Parent:

29:2b256a7ce0ae

Child:

32:1e4919a44196

--- a/PIDController.cpp	Tue Jun 14 09:57:44 2016 +0000
+++ b/PIDController.cpp	Tue Jun 14 10:26:03 2016 +0000
@@ -1,14 +1,27 @@
 #include "PIDController.h"
-
+#include "SalinityController.h"
 
 // This is called in the main loop on every iteration
 void PIDController::update() {
     // You can use the variables temp, salt and proximity like this:
     float s = this->salt->getValue();
+    
+    if(s < 6.0) {
+        float sInGrams = this->getSaltInGrams();
+        
+        float ml = SalinityController::getMl(sInGrams, this->proximity->getValue());
+    
+        printf("PIDCONTROLLER: need to pump %.3f ml\r\n", ml);
+        
+        // MAYBE DO SOME ROUNDING HERE
+    
+        // DO SHIT WITH MOTORS AND STUFF
+    
+    }
 }
 
 std::string PIDController::get_name() {
-    return "PIDController";    
+    return "PIDController";
 }
 
 //get the salt in the body in grams