Diff: main.cpp

Revision:

5:4772ef79675f

Parent:

4:e69e2983bb6e

Child:

6:d73f051400ee

--- a/main.cpp	Tue Jun 30 08:23:32 2015 +0000
+++ b/main.cpp	Fri Jul 03 10:19:21 2015 +0000
@@ -16,126 +16,23 @@
 #define TSI_B PTB17
 
 #define PRESSURE A0
+#define EXTERNAL_SETPOINT A4
 
 DigitalOut v1open(V1_OPEN);
 DigitalOut v1close(V1_CLOSE);
 HIDScope scope(3);
 AnalogIn pressure(PRESSURE);
+AnalogIn ain_setpoint(EXTERNAL_SETPOINT);
 TSIAnalogSlider slider(TSI_A, TSI_B, 100);
 Ticker valvetick;
 
 float setpoint1 = 0;
 
-class Valve
-{
-public:
-    Valve(PinName open, PinName close);
-    void write(float pwm, bool direct_mode=true);
-    void SetDeadtime(float deadtime) {
-        if(_period < deadtime) _period = deadtime;
-        _deadtime = deadtime;
-        InitializeValve(_period,_deadtime);
-    };
-private:
-    float _pwm;
-    float _period;
-    float _deadtime;
-    void InitializeValve(float period, float deadtime);
-    FastPWM _open;
-    FastPWM _close;
-};
-
-Valve::Valve(PinName open, PinName close): _open(open), _close(close)
-{
-    InitializeValve(0.05,0.006);
-}
-
-void Valve::InitializeValve(float period, float deadtime)
-{
-    _period = period;
-    _deadtime = deadtime;
-    _open.period(_period);
-    _close.period(_period);
-    _open.pulsewidth(0);
-    _close.pulsewidth(0);
-}
-
-
-void Valve::write(float pwm, bool direct_mode)
-{
-    //input conditioning
-    if(pwm > 1)
-        pwm = 1;
-    if(pwm < -1)
-        pwm = -1;
-
-    if(direct_mode) {
-        if(pwm > 1)
-            pwm = 1;
-        if(pwm < -1)
-            pwm = -1;
-        if(pwm > 0) {
-            _close.pulsewidth(0);
-            _open.pulsewidth(_period*pwm);
-        } else {
-            _open.pulsewidth(0);
-            _close.pulsewidth(_period*pwm*-1);
-        }
-    } else {
-        if(pwm > 0.001) {
-            _close.pulsewidth(0);
-            _open.pulsewidth(_deadtime+ ((_period-_deadtime)*pwm) );
-        } else if(pwm < 0.001) {
-            _open.pulsewidth(0);
-            _close.pulsewidth(_deadtime+ ((_period-_deadtime)*pwm*-1));
-        } else {
-            _open.pulsewidth(0);
-            _close.pulsewidth(0);
-        }
-    }
-}
-
-class PIDcontroller
-{
-public:
-    PIDcontroller(float p, float i, float d, float dt);
-    float control(float setpoint, float measurement);
-private:
-    float _p;
-    float _i;
-    float _d;
-    float _dt;
-    float _integrator;
-    float _previous_error;
-};
-
-PIDcontroller::PIDcontroller(float p, float i, float d, float dt)
-{
-    _p = p;
-    _i = i;
-    _d = d;
-    _dt = dt;
-    _previous_error = 0;
-    _integrator = 0;
-}
-
-float PIDcontroller::control(float setpoint, float measurement)
-{
-    float output = 0;
-    float error = setpoint - measurement;
-    _integrator += error*_dt;
-    output  = error * _p;
-    output += _integrator * _i;
-    output += ((_previous_error-error)/_dt)*_d;
-    _previous_error = error;
-    return output;
-}
-
 float getPressure_Pa(void)
 {
     float voltage = pressure.read()*3.3;
     float sensor_output = (voltage*2)-0.2;//offset compensation
-    float pressure = sensor_output*10000;
+    float pressure = sensor_output*10000; //gain (might be off a bit. Is the full scale range without the offset? then it would be ~9000).
     return pressure;
 }
 
@@ -146,11 +43,10 @@
     if(setpoint1 - meas >2000) {
         v1close = 0;
         v1open = 1;
-    } else if (meas - setpoint1 > 1000) {
+    } else if (meas - setpoint1 > 2000) {
         v1close = 1;
         v1open = 0;
-    }
-    else
+    } else
         v1open = v1close = 0;
     usbcounter++;
     if(usbcounter == 200) {
@@ -166,61 +62,7 @@
 {
     valvetick.attach(valvecontrol,0.0001);
     while(1) {
-        setpoint1 = slider.readPercentage()*30000;
-        wait(0.1);
+        setpoint1 = ain_setpoint.read()*30000;
+        wait(0.05);
     }
-    /*
-    PIDcontroller pid(0.001,0,0.000,0.2);
-    //Valve v1(V1_OPEN, V1_CLOSE);
-    Valve v2(V2_OPEN, V2_CLOSE);
-    Valve v3(V3_OPEN, V3_CLOSE);
-    Valve v4(V4_OPEN, V4_CLOSE);
-
-    while(1) {
-        float pid_out;
-        float setpoint;
-        float meas;
-        static float time = 0;
-        wait(0.01);
-        time +=0.2;
-        setpoint = slider.readPercentage()*20000;
-        pid_out = pid.control(setpoint, getPressure_Pa());
-        //if(pid_out > 0.1)
-        //    v1.write(0.1);
-        //if(pid_out < -0.1)
-         //   v1.write(-0.1);
-        meas = getPressure_Pa();
-        if(abs(setpoint - meas)>4000)
-        {
-            int32_t count = 0;
-            if(meas < setpoint )
-            {
-                while( (getPressure_Pa() < setpoint) && count < 100)
-                {
-                    wait(0.001);
-                    v1open = 1;
-                    count++;
-                }
-            }
-            else
-            {
-                while( (getPressure_Pa() > setpoint) && count < 100)
-                {
-                        v1close = 1;
-                    wait(0.001);
-                    count++;
-                }
-            }
-            v1open = v1close = 0;
-
-        }
-        //v1.write(pid_out,false);
-        v2.write(0);//sin(time));
-        v3.write(0);
-        v4.write(0);//sin(time),false);
-        scope.set(0,getPressure_Pa());
-        scope.set(1,slider.readPercentage());
-        scope.set(2,pid_out);
-        scope.send();
-    }*/
 }