Diff: main.cpp

Revision:

9:1bdf5107920f

Parent:

8:648c3963a8e0

--- a/main.cpp	Tue Nov 22 22:01:20 2016 +0000
+++ b/main.cpp	Tue Nov 22 22:34:18 2016 +0000
@@ -4,7 +4,11 @@
 #include "Control.h"
 
 
-
+enum curve_t    { OFF=0, CONSTANT_PRESSURE, CONSTANT_FLOW, CONSTANT_SPEED, MODE_SINUS, MODE_ARTERIAL
+                    } curve_mode;
+                    
+                    
+Control control(D8);
 //I2C settings
     #define SDA D10
     #define SCL D11
@@ -12,26 +16,10 @@
     #define I2C_BUFFER_SIZE 10
     I2CSlave slave(SDA,SCL);
 
-//Curve settings
 
-    enum curve_t    { OFF=0, CONSTANT_PRESSURE, CONSTANT_FLOW, CONSTANT_SPEED, MODE_SINUS, MODE_ARTERIAL
-                    } curve_mode;
-    float curve_buffer[CURVE_BUFFER_SIZE];
-    float curve_min=80;    //[mmHg]
-    float curve_max=120;   //[mmHg]
-    float curve_period=10; //[ms]
-    int curve_step_us=(int)((curve_period*1000)/CURVE_BUFFER_SIZE);//[us]
-//Constant variables
-    float constant_pressure;
-    float constant_flow;
-    float constant_speed;
 //Sensor variables
     float sensor_pressure;
-    float SENSOR_FLOW;
-
-// ----- MOTOR CONTROLLER SETTINGS -----
-    float rel_pressure_volt; //The relationship between increase in voltage and increase in pressure
-    PwmOut motorOut(D8);
+    float sensor_flow;
     
     
 // ----- SENSOR CONTROLLER SETTINGS -----
@@ -81,25 +69,6 @@
     }
 }
     
-
-//Note: om de frequentie aan te passen speel je de buffer sneller af. Hierbij neemt nauwkeurigheid wel af. Om dit te verminderen
-//heb je meer punten in de buffer nodig.
-void curve_sinus(){
-    float amplitude = (curve_max - curve_min)/2; //amplitude*sin(t) //van -amplitude naar +amplitude
-    //Als sin(x) = 0, moet de curve exact in het midden van max en min zitten
-    float offset = (curve_max+curve_min)/2;
-    //Genereer een volle periode en zet het in de buffer
-    float step = 2*3.1415926/CURVE_BUFFER_SIZE;
-    for(int i=0;i<CURVE_BUFFER_SIZE;i++){        
-        curve_buffer[i] = offset+amplitude*sin(step*i);
-    }
-}
-
-/*
-float curve_arterial(){
-    //Help.
-}
-*/
 //Split an integer into two char
 void int_to_2_char(char* arr, int val, int first_element = 0){
     arr[first_element] = val>>8;
@@ -116,30 +85,27 @@
     switch(command){
     // ----- MOTOR CONTROLLER COMMANDS -----
         case SET_MODE:
-            curve_mode = (curve_t)char2_to_int(arr,1);
+            control.set_mode(char2_to_int(arr,1));
             break;
         case SET_CONSTANT_PRESSURE:
-            constant_pressure = char2_to_int(arr,1)/100.0;
+            control.set_constant_pressure(char2_to_int(arr,1)/100.0);
             break;
         case SET_CONSTANT_FLOW:
-            constant_flow = char2_to_int(arr,1)/10.0;
+            control.set_constant_flow(char2_to_int(arr,1)/10.0);
             break;
         case SET_CONSTANT_SPEED:
-            constant_speed = (float)char2_to_int(arr,1);
+            control.set_constant_speed((float)char2_to_int(arr,1));
             break;
         case SET_MIN:
-            curve_min = char2_to_int(arr,1)/100.0;
-            curve_sinus();
+            control.set_min(char2_to_int(arr,1)/100.0);
             break;
         case SET_MAX:
-            curve_max = char2_to_int(arr,1)/100.0;
-            curve_sinus();
+            control.set_max(char2_to_int(arr,1)/100.0);
             break;
         case SET_FREQUENCY:
             //Note: it receives a frequency but internally converts it to
             //      a period in ms immediately.
-            curve_period = 1000/((char2_to_int(arr,1))/100.0);
-            curve_sinus();
+            control.set_period(1000/((char2_to_int(arr,1))/100.0));
             break;
     // ----- SENSOR CONTROLLER COMMANDS -----
         case SET_RESPONSE_SENSOR_PRESSURE_1:
@@ -207,24 +173,6 @@
     return true;   
 }
 
-void control_init(AnalogIn& sensor){
-    float press1;
-    float press2;
-    //Set the motor at 10% power
-    motorOut = 0.1;
-    //Wait several seconds for everything to settle
-    wait(2);
-    press1 = sensor.read(); //DANGEROUS: Not moving averaged
-    //Set the motor at 20% power
-    motorOut = 0.2;
-    //Wait several seconds for everything to settle
-    wait(2);
-    press2 = sensor.read();
-    
-    //TODO: Make this better
-    rel_pressure_volt = press1/press2;
-}
-
 int main() {
     // ----- SENSOR CONTROLLER STUFF -----
     //Pins
@@ -233,7 +181,6 @@
                 tempSensor1(A2),
                 tempSensor2(A3),
                 flowSensor(A4);
-
     //mbed ondersteund onneindig veel timers
     Timer   t_druk1,
             t_druk2,
@@ -246,12 +193,13 @@
     
     
     slave.address(motor_addr); //Set the correct address for this module
-    motorOut.period_ms(1); //1KHz
     char buffer[I2C_BUFFER_SIZE] = {0}; //Create the buffer for I2C
     bool buffer_changed = false;
     
-    //Calibrate the motor controller
-    control_init(drukSensor1);
+    //Calibrate the motor controller on the pressure sensor
+    control.normalize(drukSensor1);
+    control.start();
+    
     while(1) {
         int i = slave.receive();        
         switch (i) {