Mario Simaremare / Mbed 2 deprecated g3_waterplay

Salinity and temperature sensors are implemented in classes.

Dependencies:   mbed

Tank.cpp@7:46e65aeb4df2, 2016-06-19 (annotated)

Committer:
mariosimaremare
Date:
Sun Jun 19 23:48:07 2016 +0000
Revision:
7:46e65aeb4df2
Parent:
6:931a7fe8fa52
Child:
8:6be230b22314
Update the pouring water.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mariosimaremare 3:7c648d1d8802 1 /*
mariosimaremare 3:7c648d1d8802 2 * G3: WATERPLAY
mariosimaremare 3:7c648d1d8802 3 */
mariosimaremare 3:7c648d1d8802 4
mariosimaremare 4:d8914369bf82 5 #include "Printer.h"
mariosimaremare 3:7c648d1d8802 6 #include "Tank.h"
mariosimaremare 3:7c648d1d8802 7 #include "mbed.h"
mariosimaremare 3:7c648d1d8802 8
mariosimaremare 3:7c648d1d8802 9 Tank::Tank(
mariosimaremare 4:d8914369bf82 10 Printer &printer,
mariosimaremare 4:d8914369bf82 11 DRV8825 &salinitySyringe,
mariosimaremare 7:46e65aeb4df2 12 DRV8825 &waterSyringe,
mariosimaremare 7:46e65aeb4df2 13 Ping &pinger
mariosimaremare 3:7c648d1d8802 14 ):
mariosimaremare 4:d8914369bf82 15 _printer(printer),
mariosimaremare 4:d8914369bf82 16 _salinitySyringe(salinitySyringe),
mariosimaremare 4:d8914369bf82 17 _waterSyringe(waterSyringe),
mariosimaremare 7:46e65aeb4df2 18 _pinger(pinger),
mariosimaremare 4:d8914369bf82 19 _previous_direction_salt(-1),
mariosimaremare 4:d8914369bf82 20 _previous_direction_pure(-1),
mariosimaremare 4:d8914369bf82 21 _position_salt(14),
mariosimaremare 4:d8914369bf82 22 _position_pure(27)
mariosimaremare 3:7c648d1d8802 23 {
mariosimaremare 3:7c648d1d8802 24 }
mariosimaremare 7:46e65aeb4df2 25
mariosimaremare 7:46e65aeb4df2 26 bool Tank::is_proximity_ok()
mariosimaremare 7:46e65aeb4df2 27 {
mariosimaremare 7:46e65aeb4df2 28 int range = 0;
mariosimaremare 7:46e65aeb4df2 29 char buffer[32];
mariosimaremare 7:46e65aeb4df2 30
mariosimaremare 7:46e65aeb4df2 31 _pinger.Send();
mariosimaremare 7:46e65aeb4df2 32 wait(0.1);
mariosimaremare 7:46e65aeb4df2 33 range = _pinger.Read_cm();
mariosimaremare 7:46e65aeb4df2 34
mariosimaremare 7:46e65aeb4df2 35 range = range/2;
mariosimaremare 7:46e65aeb4df2 36 sprintf(
mariosimaremare 7:46e65aeb4df2 37 buffer,
mariosimaremare 7:46e65aeb4df2 38 "Range in cm: %d",
mariosimaremare 7:46e65aeb4df2 39 range
mariosimaremare 7:46e65aeb4df2 40 );
mariosimaremare 7:46e65aeb4df2 41 _printer.toBoth(buffer);
mariosimaremare 7:46e65aeb4df2 42
mariosimaremare 7:46e65aeb4df2 43 if (range >= 12) {
mariosimaremare 7:46e65aeb4df2 44 _printer.toBoth("Proximity ok");
mariosimaremare 7:46e65aeb4df2 45 return true;
mariosimaremare 7:46e65aeb4df2 46 }
mariosimaremare 7:46e65aeb4df2 47 return false;
mariosimaremare 7:46e65aeb4df2 48 }
mariosimaremare 7:46e65aeb4df2 49
mariosimaremare 4:d8914369bf82 50 void Tank::add(int type, int mililiters, int direction)
mariosimaremare 3:7c648d1d8802 51 {
mariosimaremare 7:46e65aeb4df2 52 for (int i = 25; i < MAX_SPEED; i+=20) {
mariosimaremare 7:46e65aeb4df2 53 if (type == TYPE_SALT)
mariosimaremare 7:46e65aeb4df2 54 _salinitySyringe.settings(1/MICROSTEPS_PER_STEP, direction, i);
mariosimaremare 7:46e65aeb4df2 55 else
mariosimaremare 7:46e65aeb4df2 56 _waterSyringe.settings(1/MICROSTEPS_PER_STEP, direction, i);
mariosimaremare 7:46e65aeb4df2 57 }
mariosimaremare 6:931a7fe8fa52 58
mariosimaremare 7:46e65aeb4df2 59 //fix the changing of directions for pure
mariosimaremare 7:46e65aeb4df2 60 if (type == TYPE_PURE) {
mariosimaremare 7:46e65aeb4df2 61 //mililiters = mililiters * 2.0;
mariosimaremare 7:46e65aeb4df2 62 if (_previous_direction_pure != direction)
mariosimaremare 7:46e65aeb4df2 63 mililiters = mililiters + 1.0;
mariosimaremare 7:46e65aeb4df2 64 }
mariosimaremare 6:931a7fe8fa52 65
mariosimaremare 7:46e65aeb4df2 66 //fix the changing of directions for salt
mariosimaremare 7:46e65aeb4df2 67 if (type == TYPE_SALT) {
mariosimaremare 7:46e65aeb4df2 68 //mililiters = mililiters * 2.0;
mariosimaremare 7:46e65aeb4df2 69 if (_previous_direction_salt != direction)
mariosimaremare 7:46e65aeb4df2 70 mililiters = mililiters + 1.0;
mariosimaremare 7:46e65aeb4df2 71 //if (_previous_direction_salt == DIRECTION_PULL)
mariosimaremare 7:46e65aeb4df2 72 //mililiters = mililiters + 0.5;
mariosimaremare 7:46e65aeb4df2 73 }
mariosimaremare 6:931a7fe8fa52 74
mariosimaremare 7:46e65aeb4df2 75 //move with constant speed
mariosimaremare 7:46e65aeb4df2 76 for (int i = 1; i < (MOVEMENT + (int)floor(((mililiters - 1.0)*STEP_EXTRA))); i+=1) {
mariosimaremare 7:46e65aeb4df2 77 if (type == TYPE_SALT)
mariosimaremare 7:46e65aeb4df2 78 _salinitySyringe.settings(1/MICROSTEPS_PER_STEP, direction, MAX_SPEED);
mariosimaremare 7:46e65aeb4df2 79 else
mariosimaremare 7:46e65aeb4df2 80 _waterSyringe.settings(1/MICROSTEPS_PER_STEP, direction, MAX_SPEED);
mariosimaremare 6:931a7fe8fa52 81
mariosimaremare 7:46e65aeb4df2 82 //if ((i - MOVEMENT) % STEP_EXTRA == 0 && !proximity_ok())
mariosimaremare 7:46e65aeb4df2 83 // break;
mariosimaremare 7:46e65aeb4df2 84 }
mariosimaremare 6:931a7fe8fa52 85
mariosimaremare 7:46e65aeb4df2 86 //de-accelerate
mariosimaremare 7:46e65aeb4df2 87 for (int i = MAX_SPEED; i > 0; i-=20) {
mariosimaremare 7:46e65aeb4df2 88 if (type == TYPE_SALT)
mariosimaremare 7:46e65aeb4df2 89 _salinitySyringe.settings(1/MICROSTEPS_PER_STEP, direction, i);
mariosimaremare 7:46e65aeb4df2 90 else
mariosimaremare 7:46e65aeb4df2 91 _waterSyringe.settings(1/MICROSTEPS_PER_STEP, direction, i);
mariosimaremare 7:46e65aeb4df2 92 }
mariosimaremare 6:931a7fe8fa52 93
mariosimaremare 7:46e65aeb4df2 94 //remember previous direction
mariosimaremare 7:46e65aeb4df2 95 if (type == TYPE_SALT) {
mariosimaremare 7:46e65aeb4df2 96 _previous_direction_salt = direction;
mariosimaremare 7:46e65aeb4df2 97 } else {
mariosimaremare 7:46e65aeb4df2 98 _previous_direction_pure = direction;
mariosimaremare 6:931a7fe8fa52 99 }
mariosimaremare 3:7c648d1d8802 100 }
mariosimaremare 6:931a7fe8fa52 101 void Tank::react(double salinity)
mariosimaremare 6:931a7fe8fa52 102 {
mariosimaremare 6:931a7fe8fa52 103 if(salinity < 0.0) {
mariosimaremare 6:931a7fe8fa52 104 // add more pure water
mariosimaremare 6:931a7fe8fa52 105 add(TYPE_SALT, 1, DIRECTION_PULL);
mariosimaremare 6:931a7fe8fa52 106 add(TYPE_SALT, 1, DIRECTION_PUSH);
mariosimaremare 6:931a7fe8fa52 107 add(TYPE_SALT, 2, DIRECTION_PULL);
mariosimaremare 6:931a7fe8fa52 108 add(TYPE_SALT, 2, DIRECTION_PUSH);
mariosimaremare 6:931a7fe8fa52 109 add(TYPE_SALT, 3, DIRECTION_PULL);
mariosimaremare 6:931a7fe8fa52 110 add(TYPE_SALT, 3, DIRECTION_PUSH);
mariosimaremare 6:931a7fe8fa52 111 } else {
mariosimaremare 6:931a7fe8fa52 112 // add more saline solution
mariosimaremare 6:931a7fe8fa52 113 add(TYPE_PURE, 1, DIRECTION_PULL);
mariosimaremare 6:931a7fe8fa52 114 add(TYPE_PURE, 1, DIRECTION_PUSH);
mariosimaremare 6:931a7fe8fa52 115 add(TYPE_PURE, 2, DIRECTION_PULL);
mariosimaremare 6:931a7fe8fa52 116 add(TYPE_PURE, 2, DIRECTION_PUSH);
mariosimaremare 6:931a7fe8fa52 117 add(TYPE_PURE, 3, DIRECTION_PULL);
mariosimaremare 6:931a7fe8fa52 118 add(TYPE_PURE, 3, DIRECTION_PUSH);
mariosimaremare 6:931a7fe8fa52 119 }
mariosimaremare 6:931a7fe8fa52 120 }