Mario Simaremare / Mbed 2 deprecated g3_waterplay

Salinity and temperature sensors are implemented in classes.

Dependencies:   mbed

Tank.cpp@12:7a48b90b493e, 2016-06-22 (annotated)

Committer:
mariosimaremare
Date:
Wed Jun 22 12:34:37 2016 +0000
Revision:
12:7a48b90b493e
Parent:
11:dcaaf1bb21ce
Child:
13:142a142a7ac5
Add procedure.

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 11:dcaaf1bb21ce 13 Ping &pinger,
mariosimaremare 11:dcaaf1bb21ce 14 Flasher &alarm
mariosimaremare 3:7c648d1d8802 15 ):
mariosimaremare 4:d8914369bf82 16 _printer(printer),
mariosimaremare 4:d8914369bf82 17 _salinitySyringe(salinitySyringe),
mariosimaremare 4:d8914369bf82 18 _waterSyringe(waterSyringe),
mariosimaremare 7:46e65aeb4df2 19 _pinger(pinger),
mariosimaremare 11:dcaaf1bb21ce 20 _alarm(alarm),
mariosimaremare 4:d8914369bf82 21 _previous_direction_salt(-1),
mariosimaremare 4:d8914369bf82 22 _previous_direction_pure(-1),
mariosimaremare 4:d8914369bf82 23 _position_salt(14),
mariosimaremare 11:dcaaf1bb21ce 24 _position_pure(27),
mariosimaremare 11:dcaaf1bb21ce 25 _added_liquid(0.0)
mariosimaremare 3:7c648d1d8802 26 {
mariosimaremare 3:7c648d1d8802 27 }
mariosimaremare 7:46e65aeb4df2 28
mariosimaremare 11:dcaaf1bb21ce 29 char* Tank::getStrStatus()
mariosimaremare 11:dcaaf1bb21ce 30 {
mariosimaremare 11:dcaaf1bb21ce 31 return (this->_strStatus);
mariosimaremare 11:dcaaf1bb21ce 32 }
mariosimaremare 11:dcaaf1bb21ce 33
mariosimaremare 7:46e65aeb4df2 34 bool Tank::is_proximity_ok()
mariosimaremare 7:46e65aeb4df2 35 {
mariosimaremare 7:46e65aeb4df2 36 int range = 0;
mariosimaremare 7:46e65aeb4df2 37 char buffer[32];
mariosimaremare 7:46e65aeb4df2 38
mariosimaremare 7:46e65aeb4df2 39 _pinger.Send();
mariosimaremare 7:46e65aeb4df2 40 wait(0.1);
mariosimaremare 7:46e65aeb4df2 41 range = _pinger.Read_cm();
mariosimaremare 7:46e65aeb4df2 42
mariosimaremare 7:46e65aeb4df2 43 range = range/2;
mariosimaremare 7:46e65aeb4df2 44 sprintf(
mariosimaremare 7:46e65aeb4df2 45 buffer,
mariosimaremare 7:46e65aeb4df2 46 "Range in cm: %d",
mariosimaremare 7:46e65aeb4df2 47 range
mariosimaremare 7:46e65aeb4df2 48 );
mariosimaremare 12:7a48b90b493e 49 _printer.toBothln(buffer);
mariosimaremare 7:46e65aeb4df2 50
mariosimaremare 7:46e65aeb4df2 51 if (range >= 12) {
mariosimaremare 7:46e65aeb4df2 52 _printer.toBoth("Proximity ok");
mariosimaremare 7:46e65aeb4df2 53 return true;
mariosimaremare 7:46e65aeb4df2 54 }
mariosimaremare 7:46e65aeb4df2 55 return false;
mariosimaremare 7:46e65aeb4df2 56 }
mariosimaremare 7:46e65aeb4df2 57
mariosimaremare 4:d8914369bf82 58 void Tank::add(int type, int mililiters, int direction)
mariosimaremare 3:7c648d1d8802 59 {
mariosimaremare 7:46e65aeb4df2 60 for (int i = 25; i < MAX_SPEED; i+=20) {
mariosimaremare 7:46e65aeb4df2 61 if (type == TYPE_SALT)
mariosimaremare 7:46e65aeb4df2 62 _salinitySyringe.settings(1/MICROSTEPS_PER_STEP, direction, i);
mariosimaremare 7:46e65aeb4df2 63 else
mariosimaremare 7:46e65aeb4df2 64 _waterSyringe.settings(1/MICROSTEPS_PER_STEP, direction, i);
mariosimaremare 7:46e65aeb4df2 65 }
mariosimaremare 6:931a7fe8fa52 66
mariosimaremare 7:46e65aeb4df2 67 //fix the changing of directions for pure
mariosimaremare 7:46e65aeb4df2 68 if (type == TYPE_PURE) {
mariosimaremare 7:46e65aeb4df2 69 //mililiters = mililiters * 2.0;
mariosimaremare 7:46e65aeb4df2 70 if (_previous_direction_pure != direction)
mariosimaremare 7:46e65aeb4df2 71 mililiters = mililiters + 1.0;
mariosimaremare 7:46e65aeb4df2 72 }
mariosimaremare 6:931a7fe8fa52 73
mariosimaremare 7:46e65aeb4df2 74 //fix the changing of directions for salt
mariosimaremare 7:46e65aeb4df2 75 if (type == TYPE_SALT) {
mariosimaremare 7:46e65aeb4df2 76 //mililiters = mililiters * 2.0;
mariosimaremare 7:46e65aeb4df2 77 if (_previous_direction_salt != direction)
mariosimaremare 7:46e65aeb4df2 78 mililiters = mililiters + 1.0;
mariosimaremare 7:46e65aeb4df2 79 //if (_previous_direction_salt == DIRECTION_PULL)
mariosimaremare 7:46e65aeb4df2 80 //mililiters = mililiters + 0.5;
mariosimaremare 7:46e65aeb4df2 81 }
mariosimaremare 6:931a7fe8fa52 82
mariosimaremare 7:46e65aeb4df2 83 //move with constant speed
mariosimaremare 7:46e65aeb4df2 84 for (int i = 1; i < (MOVEMENT + (int)floor(((mililiters - 1.0)*STEP_EXTRA))); i+=1) {
mariosimaremare 7:46e65aeb4df2 85 if (type == TYPE_SALT)
mariosimaremare 7:46e65aeb4df2 86 _salinitySyringe.settings(1/MICROSTEPS_PER_STEP, direction, MAX_SPEED);
mariosimaremare 7:46e65aeb4df2 87 else
mariosimaremare 7:46e65aeb4df2 88 _waterSyringe.settings(1/MICROSTEPS_PER_STEP, direction, MAX_SPEED);
mariosimaremare 6:931a7fe8fa52 89
mariosimaremare 7:46e65aeb4df2 90 //if ((i - MOVEMENT) % STEP_EXTRA == 0 && !proximity_ok())
mariosimaremare 7:46e65aeb4df2 91 // break;
mariosimaremare 7:46e65aeb4df2 92 }
mariosimaremare 6:931a7fe8fa52 93
mariosimaremare 7:46e65aeb4df2 94 //de-accelerate
mariosimaremare 7:46e65aeb4df2 95 for (int i = MAX_SPEED; i > 0; i-=20) {
mariosimaremare 7:46e65aeb4df2 96 if (type == TYPE_SALT)
mariosimaremare 7:46e65aeb4df2 97 _salinitySyringe.settings(1/MICROSTEPS_PER_STEP, direction, i);
mariosimaremare 7:46e65aeb4df2 98 else
mariosimaremare 7:46e65aeb4df2 99 _waterSyringe.settings(1/MICROSTEPS_PER_STEP, direction, i);
mariosimaremare 7:46e65aeb4df2 100 }
mariosimaremare 6:931a7fe8fa52 101
mariosimaremare 7:46e65aeb4df2 102 //remember previous direction
mariosimaremare 7:46e65aeb4df2 103 if (type == TYPE_SALT) {
mariosimaremare 7:46e65aeb4df2 104 _previous_direction_salt = direction;
mariosimaremare 7:46e65aeb4df2 105 } else {
mariosimaremare 7:46e65aeb4df2 106 _previous_direction_pure = direction;
mariosimaremare 6:931a7fe8fa52 107 }
mariosimaremare 3:7c648d1d8802 108 }
mariosimaremare 6:931a7fe8fa52 109 void Tank::react(double salinity)
mariosimaremare 6:931a7fe8fa52 110 {
mariosimaremare 11:dcaaf1bb21ce 111 bool is_allowed = true;
mariosimaremare 11:dcaaf1bb21ce 112
mariosimaremare 11:dcaaf1bb21ce 113 if(
mariosimaremare 11:dcaaf1bb21ce 114 (this->_added_liquid > 0.0)
mariosimaremare 11:dcaaf1bb21ce 115 && (fmod(this->_added_liquid, PROXIMITY_CHECK_POINT) == 0.0)
mariosimaremare 11:dcaaf1bb21ce 116 ) {
mariosimaremare 11:dcaaf1bb21ce 117 is_allowed = is_proximity_ok();
mariosimaremare 12:7a48b90b493e 118 if(is_allowed){
mariosimaremare 12:7a48b90b493e 119 this->_added_liquid = 0.0;
mariosimaremare 12:7a48b90b493e 120 }
mariosimaremare 11:dcaaf1bb21ce 121 }
mariosimaremare 10:b0fd262a0679 122
mariosimaremare 11:dcaaf1bb21ce 123 float added_liquid = 0.0;
mariosimaremare 11:dcaaf1bb21ce 124 if(is_allowed) {
mariosimaremare 11:dcaaf1bb21ce 125 if(salinity < 0.0) {
mariosimaremare 11:dcaaf1bb21ce 126 _strStatus = "Add salt";
mariosimaremare 12:7a48b90b493e 127 _printer.toBothln("set salt valve to the tank");
mariosimaremare 11:dcaaf1bb21ce 128 _alarm.flash(2, 0.2, 3.0);
mariosimaremare 11:dcaaf1bb21ce 129 this->add(TYPE_SALT, ADDED_SALT, DIRECTION_PUSH);
mariosimaremare 12:7a48b90b493e 130 _printer.toBothln("set salt valve to the reservoir");
mariosimaremare 11:dcaaf1bb21ce 131 _alarm.flash(2, 0.2, 3.0);
mariosimaremare 11:dcaaf1bb21ce 132 this->add(TYPE_SALT, ADDED_SALT, DIRECTION_PULL);
mariosimaremare 11:dcaaf1bb21ce 133 added_liquid = ADDED_SALT;
mariosimaremare 11:dcaaf1bb21ce 134 } else if(salinity > 0.0) {
mariosimaremare 11:dcaaf1bb21ce 135 _strStatus = "Add water";
mariosimaremare 12:7a48b90b493e 136 _printer.toBothln("set water valve to the tank");
mariosimaremare 11:dcaaf1bb21ce 137 _alarm.flash(1, 0.2, 3.0);
mariosimaremare 11:dcaaf1bb21ce 138 this->add(TYPE_PURE, ADDED_WATER, DIRECTION_PUSH);
mariosimaremare 12:7a48b90b493e 139 _printer.toBothln("set water valve to reservoir");
mariosimaremare 11:dcaaf1bb21ce 140 _alarm.flash(1, 0.2, 3.0);
mariosimaremare 11:dcaaf1bb21ce 141 this->add(TYPE_PURE, ADDED_WATER, DIRECTION_PULL);
mariosimaremare 11:dcaaf1bb21ce 142 added_liquid = ADDED_WATER;
mariosimaremare 11:dcaaf1bb21ce 143 } else {
mariosimaremare 11:dcaaf1bb21ce 144 _strStatus = "Add nothing";
mariosimaremare 11:dcaaf1bb21ce 145 }
mariosimaremare 11:dcaaf1bb21ce 146 this->_added_liquid += added_liquid;
mariosimaremare 11:dcaaf1bb21ce 147 } else {
mariosimaremare 12:7a48b90b493e 148 _strStatus = "Tank is overflowing";
mariosimaremare 11:dcaaf1bb21ce 149 _alarm.danger_flash();
mariosimaremare 11:dcaaf1bb21ce 150 }
mariosimaremare 11:dcaaf1bb21ce 151 }
mariosimaremare 11:dcaaf1bb21ce 152
mariosimaremare 11:dcaaf1bb21ce 153 void Tank::initialize()
mariosimaremare 11:dcaaf1bb21ce 154 {
mariosimaremare 12:7a48b90b493e 155 _printer.toBoth("initializing...");
mariosimaremare 11:dcaaf1bb21ce 156 //initialize
mariosimaremare 12:7a48b90b493e 157 _alarm.flash(1, 0.2, 3.0); //turn the thing to pulling from reservoir
mariosimaremare 11:dcaaf1bb21ce 158 this->add(TYPE_PURE, 20.0, DIRECTION_PULL);//20
mariosimaremare 12:7a48b90b493e 159 _alarm.flash(1, 0.2, 3.0); //turn the thing to pushing to glass
mariosimaremare 11:dcaaf1bb21ce 160 this->add(TYPE_PURE, 20.0, DIRECTION_PUSH);//19.5
mariosimaremare 12:7a48b90b493e 161 _alarm.flash(1, 0.2, 3.0); //turn the thing to pulling from reservoir
mariosimaremare 11:dcaaf1bb21ce 162 this->add(TYPE_PURE, 20.0, DIRECTION_PULL); //20
mariosimaremare 12:7a48b90b493e 163 _alarm.flash(1, 0.2, 3.0); //turn the thing to pushing to glass
mariosimaremare 11:dcaaf1bb21ce 164 this->add(TYPE_PURE, 20.0, DIRECTION_PUSH);
mariosimaremare 12:7a48b90b493e 165 _alarm.flash(1, 0.2, 3.0); //turn the thing to pulling from reservoir
mariosimaremare 11:dcaaf1bb21ce 166 this->add(TYPE_PURE, 25.0, DIRECTION_PULL); //20
mariosimaremare 11:dcaaf1bb21ce 167 //done
mariosimaremare 11:dcaaf1bb21ce 168
mariosimaremare 11:dcaaf1bb21ce 169 //initialize
mariosimaremare 12:7a48b90b493e 170 _alarm.flash(2, 0.2, 3.0); //turn the thing to pulling from reservoir
mariosimaremare 11:dcaaf1bb21ce 171 this->add(TYPE_SALT, 20.0, DIRECTION_PULL);//20
mariosimaremare 12:7a48b90b493e 172 _alarm.flash(2, 0.2, 3.0); //turn the thing to pushing to glass
mariosimaremare 11:dcaaf1bb21ce 173 this->add(TYPE_SALT, 20.0, DIRECTION_PUSH);//19.5
mariosimaremare 12:7a48b90b493e 174 _alarm.flash(2, 0.2, 3.0); //turn the thing to pulling from reservoir
mariosimaremare 11:dcaaf1bb21ce 175 this->add(TYPE_SALT, 20.0, DIRECTION_PULL); //20
mariosimaremare 12:7a48b90b493e 176 _alarm.flash(2, 0.2, 3.0); //turn the thing to pushing to glass
mariosimaremare 11:dcaaf1bb21ce 177 this->add(TYPE_SALT, 20.0, DIRECTION_PUSH);
mariosimaremare 12:7a48b90b493e 178 _alarm.flash(2, 0.2, 3.0); //turn the thing to pulling from reservoir
mariosimaremare 11:dcaaf1bb21ce 179 this->add(TYPE_SALT, 25.0, DIRECTION_PULL); //20
mariosimaremare 6:931a7fe8fa52 180 }