PIDController.h

00001 #ifndef __PIDCONTROLLER_H__
00002 #define __PIDCONTROLLER_H__
00003 
00004 #include <iostream>
00005 
00006 #include "mbed.h"
00007 #include "DRV8825.h"
00008 #include "stdio.h"
00009 #include "SensorController.h"
00010 #include "settings.h"
00011 
00012 
00013 #define MAX_SPEED           8000
00014 #define MICROSTEPS_PER_STEP 16 
00015 
00016 #define LEFT  1
00017 #define RIGHT 0
00018 
00019 
00020 class PIDController : public Controller {
00021 
00022     
00023     public:
00024         PIDController(bool threaded, int interval_ms, SensorController *temp, SensorController *salt, SensorController *proximity)
00025          : Controller(threaded, interval_ms) {
00026             this->temp = temp;
00027             this->salt = salt;
00028             this->proximity = proximity;
00029             this->pumping = false;
00030             this->heating = false;
00031         }
00032         
00033         ~PIDController();
00034         
00035         virtual void update();
00036         
00037         virtual std::string getName();
00038         
00039         bool isHeating();
00040         
00041         bool isPumping();
00042         
00043         void doTestingStuff(int ml);
00044     
00045     private:
00046         SensorController *temp;
00047         SensorController *salt;
00048         SensorController *proximity;        
00049         
00050         bool heating;
00051         bool pumping;
00052         
00053         void pumpSaltWater(int ml);
00054         
00055         void pumpFreshWater(int ml);
00056         
00057         void pumpWater(DRV8825 *mtr, int ml);
00058         
00059         float getMlSaltyWater(float, float);
00060         
00061         float getMlFreshWater(float, float);
00062         
00063         float getSaltInGrams();
00064         
00065         void setHeating(bool enabled);       
00066 };
00067 
00068 
00069 #endif