Revision 35:c9261391a995, committed 2016-06-14

Comitter:

sbouber1

Date:

Tue Jun 14 15:31:30 2016 +0000

Parent:

34:e2d7865063da

Child:

36:8aeb014bd651

Commit message:

Heating in PIDController

Changed in this revision

--- a/LCDController.h	Tue Jun 14 11:17:06 2016 +0000
+++ b/LCDController.h	Tue Jun 14 15:31:30 2016 +0000
@@ -5,8 +5,6 @@
 #include "stdio.h"
 #include "TextLCD.h"
 
-#endif
-
 class LCDController {
 
     
@@ -23,4 +21,6 @@
         
         
         
-};
\ No newline at end of file
+};
+
+#endif
\ No newline at end of file

--- a/PIDController.cpp	Tue Jun 14 11:17:06 2016 +0000
+++ b/PIDController.cpp	Tue Jun 14 15:31:30 2016 +0000
@@ -1,5 +1,7 @@
 #include "PIDController.h"
-#include "SalinityController.h"
+#include "testing.h"
+
+DigitalOut heater(p18);
 
 DRV8825 mtr_fresh(p21, p27, p28, p29, p22, p23);
 DRV8825 mtr_salt(p24, p27, p28, p29, p25, p26);
@@ -7,28 +9,31 @@
 
 // This is called in the main loop on every iteration
 void PIDController::update() {
-    // You can use the variables temp, salt and proximity like this:
+    
+    // Control the heater
+    // This could be done in the pumping function as well, if needed
+    this->set_heating(temp->getValue() < 32.0f);
+
     float s = this->salt->getValue();
     float sInGrams = this->getSaltInGrams();
     
     if(s <= 6.0) {
         
         float ml = this->getMlSaltyWater(sInGrams, this->proximity->getValue());
+        int ml_int = static_cast<int>(ml);
     
-        printf("PIDCONTROLLER: need to pump %.3f ml of salty water\r\n", ml);
+        printf("PIDCONTROLLER: need to pump %d (%.3f) ml of salty water\r\n", ml_int, ml);
         
-        // MAYBE DO SOME ROUNDING HERE
-    
-        // CALL this->pump_salt_water
+        //this->pump_salt_water(ml_int);
     
     } else if(s >= 9.0) {
 
         float ml = this->getMlFreshWater(s, this->proximity->getValue());
-        printf("PIDCONTROLLER: need to pump %.3f ml of fresh water\r\n", ml);
+        int ml_int = static_cast<int>(ml);
         
-        // MAYBE DO SOME ROUNDING HERE
-    
-        // CALL this->pump_fresh_water        
+        printf("PIDCONTROLLER: need to pump %d (%.3f) ml of fresh water\r\n", ml_int, ml);
+        
+        //this->pump_fresh_water(ml_int);     
         
     }
 }
@@ -43,7 +48,7 @@
     float currentppt = this->salt->getValue(); //in ppt
     float currentvol = this->proximity->getValue(); //in ml
     
-    return currentppt * (currentvol /1000);
+    return currentppt * (currentvol / 1000);
 }
 
 
@@ -57,6 +62,7 @@
 }
 
 void PIDController::pump_water(DRV8825 *mtr, int ml) {
+    
     int j = 5010 * (ml - 1);
     
     for (int i = 500; i < MAX_SPEED; i += 5) {
@@ -84,8 +90,8 @@
     for (int i = 8000; i > 500; i -= 5) {
         mtr->settings(1 / MICROSTEPS_PER_STEP, RIGHT, i);
     }
-    wait(3);
     
+    wait(3);    
 }
 
 
@@ -103,8 +109,30 @@
     float outputml = (x1 / x2 * solvolume);
     
     return outputml; // amount in ml to get 7 ppt.
+}
+
+bool PIDController::is_heating() {
+    return this->heating;    
+}
+
+void PIDController::set_heating(bool enabled) {
+    if(enabled == this->heating) return;
+    
+    this->heating = enabled;
+    if(enabled) {
+        #ifdef RUN_TESTS
+        printf("Should set heater to 1\r\n");
+        #else
+        heater = 1;
+        #endif            
+    } else {
+        #ifdef RUN_TESTS
+        printf("Should set heater to 0\r\n");
+        #else
+        heater = 0;
+        #endif    
     }
-
+}
 
 float PIDController::getMlFreshWater(float ppt, float volume) {
     return (volume * (ppt / 7.0)) - volume;

--- a/PIDController.h	Tue Jun 14 11:17:06 2016 +0000
+++ b/PIDController.h	Tue Jun 14 15:31:30 2016 +0000
@@ -26,13 +26,15 @@
         
         virtual void update();
         
-        virtual std::string get_name();        
-        float getSaltInGrams();
+        virtual std::string get_name();
+        
+        bool is_heating();
     
     private:
         SensorController *temp;
         SensorController *salt;
         SensorController *proximity;
+        bool heating;
         
         void pump_salt_water(int ml);
         
@@ -44,7 +46,9 @@
         
         float getMlFreshWater(float, float);
         
+        float getSaltInGrams();
         
+        void set_heating(bool enabled);       
 };
 
 

--- a/TemperatureController.cpp	Tue Jun 14 11:17:06 2016 +0000
+++ b/TemperatureController.cpp	Tue Jun 14 15:31:30 2016 +0000
@@ -1,9 +1,7 @@
 #include "TemperatureController.h"
-#include "rtos.h"
 #include "testing.h"
 
 AnalogIn temperature_sensor(p20);
-DigitalOut heater(p18);
 
 float TemperatureController::getValue() {
     return this->temperature;    
@@ -17,29 +15,6 @@
     this->temperature = readSensor();
 }
 
-bool TemperatureController::is_heating() {
-    return this->heating;    
-}
-
-void TemperatureController::set_heating(bool enabled) {
-    if(enabled == this->heating) return;
-    
-    this->heating = enabled;
-    if(enabled) {
-        #ifdef RUN_TESTS
-        printf("Should set heater to 1\r\n");
-        #else
-        heater = 1;
-        #endif            
-    } else {
-        #ifdef RUN_TESTS
-        printf("Should set heater to 0\r\n");
-        #else
-        heater = 0;
-        #endif    
-    }
-}
-
 // Function reads sensor values and averages N sensor values
 float TemperatureController::readSensor()
 {
@@ -98,16 +73,6 @@
     return temperature;
 }
 
-// Function prints temperature sensor value in celsius
-void TemperatureController::displayTemperature()
-{
-    float temperature = 0;
-    
-    temperature = readSensor();
-    
-    printf("Temperature: %f Celsius\r\n", temperature);
-}
-
 float TemperatureController::getOffset(float voltage)
 {
     float denominator_voltage, numerator_voltage, ratio, interpolation;
@@ -141,10 +106,4 @@
     } else {
         return offset_table[0];
     }
-}
-
-void TemperatureController::controlHeater()
-{
-    this->set_heating(this->getValue() < 32.0f);
-        
 }
\ No newline at end of file

--- a/TemperatureController.h	Tue Jun 14 11:17:06 2016 +0000
+++ b/TemperatureController.h	Tue Jun 14 15:31:30 2016 +0000
@@ -2,7 +2,6 @@
 #define __TEMPERATURECONTROLLER_H__
 
 #include "mbed.h"
-#include "stdio.h"
 
 #include "SensorController.h"
 
@@ -17,25 +16,16 @@
         virtual void update();
         
         virtual std::string get_name();
-        
-        bool is_heating();
-        
-        void set_heating(bool enabled);
     
     private:
         float temperature;
         
-        bool heating;
-    
         static float readSensor();
         
         static float analoginToCelsius(float);
         
-        void controlHeater();
-        
         static float getOffset(float);
         
-        static void displayTemperature();
 };
 
 #endif
\ No newline at end of file

--- a/main.cpp	Tue Jun 14 11:17:06 2016 +0000
+++ b/main.cpp	Tue Jun 14 15:31:30 2016 +0000
@@ -115,4 +115,6 @@
             lcd.updateScreen(d);
         
     }
+    
+    return 1;
 }
\ No newline at end of file