Diff: main.cpp

Revision:

4:e69e2983bb6e

Parent:

3:28efa5d4ebe2

Child:

5:4772ef79675f

--- a/main.cpp	Tue Jun 30 07:00:35 2015 +0000
+++ b/main.cpp	Tue Jun 30 08:23:32 2015 +0000
@@ -12,22 +12,31 @@
 #define V4_CLOSE  D8
 #define V4_OPEN   D9
 
-#define TSI_A PTB16 
+#define TSI_A PTB16
 #define TSI_B PTB17
 
 #define PRESSURE A0
 
+DigitalOut v1open(V1_OPEN);
+DigitalOut v1close(V1_CLOSE);
 HIDScope scope(3);
 AnalogIn pressure(PRESSURE);
 TSIAnalogSlider slider(TSI_A, TSI_B, 100);
-    
+Ticker valvetick;
+
+float setpoint1 = 0;
+
 class Valve
 {
-    public:
+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:
+    void SetDeadtime(float deadtime) {
+        if(_period < deadtime) _period = deadtime;
+        _deadtime = deadtime;
+        InitializeValve(_period,_deadtime);
+    };
+private:
     float _pwm;
     float _period;
     float _deadtime;
@@ -48,7 +57,7 @@
     _open.period(_period);
     _close.period(_period);
     _open.pulsewidth(0);
-    _close.pulsewidth(0);   
+    _close.pulsewidth(0);
 }
 
 
@@ -59,38 +68,27 @@
         pwm = 1;
     if(pwm < -1)
         pwm = -1;
-        
-    if(direct_mode)
-    {
+
+    if(direct_mode) {
         if(pwm > 1)
             pwm = 1;
         if(pwm < -1)
             pwm = -1;
-        if(pwm > 0)
-        {
+        if(pwm > 0) {
             _close.pulsewidth(0);
             _open.pulsewidth(_period*pwm);
-        }
-        else
-        {
+        } else {
             _open.pulsewidth(0);
             _close.pulsewidth(_period*pwm*-1);
         }
-    }
-    else
-    {
-        if(pwm > 0.001)
-        {
+    } else {
+        if(pwm > 0.001) {
             _close.pulsewidth(0);
             _open.pulsewidth(_deadtime+ ((_period-_deadtime)*pwm) );
-        }
-        else if(pwm < 0.001)
-        {
+        } else if(pwm < 0.001) {
             _open.pulsewidth(0);
             _close.pulsewidth(_deadtime+ ((_period-_deadtime)*pwm*-1));
-        }
-        else
-        {
+        } else {
             _open.pulsewidth(0);
             _close.pulsewidth(0);
         }
@@ -99,10 +97,10 @@
 
 class PIDcontroller
 {
-    public:
-    PIDcontroller(float p, float i, float d, float dt); 
+public:
+    PIDcontroller(float p, float i, float d, float dt);
     float control(float setpoint, float measurement);
-    private:
+private:
     float _p;
     float _i;
     float _d;
@@ -141,14 +139,43 @@
     return pressure;
 }
 
-int main() {
+void valvecontrol(void)
+{
+    static uint16_t usbcounter = 0;
+    float meas = getPressure_Pa();
+    if(setpoint1 - meas >2000) {
+        v1close = 0;
+        v1open = 1;
+    } else if (meas - setpoint1 > 1000) {
+        v1close = 1;
+        v1open = 0;
+    }
+    else
+        v1open = v1close = 0;
+    usbcounter++;
+    if(usbcounter == 200) {
+        scope.set(0,setpoint1);
+        scope.set(1,meas);
+        scope.set(2,meas);
+        scope.send();
+        usbcounter = 0;
+    }
+}
+
+int main()
+{
+    valvetick.attach(valvecontrol,0.0001);
+    while(1) {
+        setpoint1 = slider.readPercentage()*30000;
+        wait(0.1);
+    }
+    /*
     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);
-    DigitalOut v1open(V1_OPEN);
-    DigitalOut v1close(V1_CLOSE);
+
     while(1) {
         float pid_out;
         float setpoint;
@@ -164,7 +191,7 @@
          //   v1.write(-0.1);
         meas = getPressure_Pa();
         if(abs(setpoint - meas)>4000)
-        {   
+        {
             int32_t count = 0;
             if(meas < setpoint )
             {
@@ -185,7 +212,7 @@
                 }
             }
             v1open = v1close = 0;
-                
+
         }
         //v1.write(pid_out,false);
         v2.write(0);//sin(time));
@@ -195,5 +222,5 @@
         scope.set(1,slider.readPercentage());
         scope.set(2,pid_out);
         scope.send();
-    }
+    }*/
 }