File content as of revision 30:cf12566013a5:

#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";
}

//get the salt in the body in grams
float PIDController::getSaltInGrams()
{
    float currentppt = this->salt->getValue(); //in ppt
    float currentvol = this->proximity->getValue(); //in ml
    
    return currentppt * (currentvol /1000);
}