Mario Simaremare / Mbed 2 deprecated g3_waterplay

Salinity and temperature sensors are implemented in classes.

Dependencies:   mbed

Tank.cpp@6:931a7fe8fa52, 2016-06-17 (annotated)

Committer:
mariosimaremare
Date:
Fri Jun 17 12:19:16 2016 +0000
Revision:
6:931a7fe8fa52
Parent:
4:d8914369bf82
Child:
7:46e65aeb4df2
Add Tank component.

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 4:d8914369bf82 12 DRV8825 &waterSyringe
mariosimaremare 3:7c648d1d8802 13 ):
mariosimaremare 4:d8914369bf82 14 _printer(printer),
mariosimaremare 4:d8914369bf82 15 _salinitySyringe(salinitySyringe),
mariosimaremare 4:d8914369bf82 16 _waterSyringe(waterSyringe),
mariosimaremare 4:d8914369bf82 17 _previous_direction_salt(-1),
mariosimaremare 4:d8914369bf82 18 _previous_direction_pure(-1),
mariosimaremare 4:d8914369bf82 19 _position_salt(14),
mariosimaremare 4:d8914369bf82 20 _position_pure(27)
mariosimaremare 3:7c648d1d8802 21 {
mariosimaremare 3:7c648d1d8802 22 }
mariosimaremare 4:d8914369bf82 23 void Tank::add(int type, int mililiters, int direction)
mariosimaremare 3:7c648d1d8802 24 {
mariosimaremare 6:931a7fe8fa52 25 if (mililiters > 0) {
mariosimaremare 6:931a7fe8fa52 26 if (type == TYPE_SALT) {
mariosimaremare 6:931a7fe8fa52 27 if (direction == DIRECTION_PULL) {
mariosimaremare 6:931a7fe8fa52 28 if (_position_salt + mililiters >= POSITION_MAX)
mariosimaremare 6:931a7fe8fa52 29 mililiters = 0;
mariosimaremare 6:931a7fe8fa52 30 else
mariosimaremare 6:931a7fe8fa52 31 _position_salt = _position_salt + mililiters;
mariosimaremare 6:931a7fe8fa52 32 } else {
mariosimaremare 6:931a7fe8fa52 33 if (_position_salt - mililiters <= POSITION_MIN)
mariosimaremare 6:931a7fe8fa52 34 mililiters = 0;
mariosimaremare 6:931a7fe8fa52 35 else
mariosimaremare 6:931a7fe8fa52 36 _position_salt = _position_salt - mililiters;
mariosimaremare 6:931a7fe8fa52 37 }
mariosimaremare 6:931a7fe8fa52 38 } else {
mariosimaremare 6:931a7fe8fa52 39 if (direction == DIRECTION_PULL)
mariosimaremare 6:931a7fe8fa52 40 if (_position_pure + mililiters >= POSITION_MAX)
mariosimaremare 6:931a7fe8fa52 41 mililiters = 0;
mariosimaremare 6:931a7fe8fa52 42 else
mariosimaremare 6:931a7fe8fa52 43 _position_pure = _position_pure + mililiters;
mariosimaremare 6:931a7fe8fa52 44 else if (_position_pure - mililiters <= POSITION_MIN)
mariosimaremare 6:931a7fe8fa52 45 mililiters = 0;
mariosimaremare 6:931a7fe8fa52 46 else
mariosimaremare 6:931a7fe8fa52 47 _position_pure = _position_pure - mililiters;
mariosimaremare 6:931a7fe8fa52 48 }
mariosimaremare 6:931a7fe8fa52 49
mariosimaremare 6:931a7fe8fa52 50 //accelerate
mariosimaremare 6:931a7fe8fa52 51 for (int i = 25; i < MAX_SPEED; i+=20) {
mariosimaremare 6:931a7fe8fa52 52 if (type == TYPE_SALT)
mariosimaremare 6:931a7fe8fa52 53 _salinitySyringe.settings(1/MICROSTEPS_PER_STEP, direction, i);
mariosimaremare 6:931a7fe8fa52 54 else
mariosimaremare 6:931a7fe8fa52 55 _waterSyringe.settings(1/MICROSTEPS_PER_STEP, direction, i);
mariosimaremare 6:931a7fe8fa52 56 }
mariosimaremare 6:931a7fe8fa52 57
mariosimaremare 6:931a7fe8fa52 58 //fix the changing of directions for pure
mariosimaremare 6:931a7fe8fa52 59 if (type == TYPE_PURE) {
mariosimaremare 6:931a7fe8fa52 60
mariosimaremare 6:931a7fe8fa52 61 mililiters = mililiters * 2.2;
mariosimaremare 6:931a7fe8fa52 62 if (_previous_direction_pure != direction)
mariosimaremare 6:931a7fe8fa52 63 mililiters = mililiters + 1;
mariosimaremare 6:931a7fe8fa52 64 }
mariosimaremare 6:931a7fe8fa52 65
mariosimaremare 6:931a7fe8fa52 66 //fix the changing of directions for salt
mariosimaremare 6:931a7fe8fa52 67 if (type == TYPE_SALT) {
mariosimaremare 6:931a7fe8fa52 68 mililiters = mililiters * 0.9;
mariosimaremare 6:931a7fe8fa52 69 if (_previous_direction_pure != direction)
mariosimaremare 6:931a7fe8fa52 70 mililiters = mililiters + 1;
mariosimaremare 6:931a7fe8fa52 71 }
mariosimaremare 6:931a7fe8fa52 72
mariosimaremare 6:931a7fe8fa52 73 //move with constant speed
mariosimaremare 6:931a7fe8fa52 74 int max_loop = (MOVEMENT + (mililiters - 1) * STEP_EXTRA);
mariosimaremare 6:931a7fe8fa52 75 for (int i = 1; i < max_loop; i++) {
mariosimaremare 6:931a7fe8fa52 76 if (type == TYPE_SALT)
mariosimaremare 6:931a7fe8fa52 77 _salinitySyringe.settings(1/MICROSTEPS_PER_STEP, direction, MAX_SPEED);
mariosimaremare 6:931a7fe8fa52 78 else
mariosimaremare 6:931a7fe8fa52 79 _waterSyringe.settings(1/MICROSTEPS_PER_STEP, direction, MAX_SPEED);
mariosimaremare 6:931a7fe8fa52 80 }
mariosimaremare 6:931a7fe8fa52 81
mariosimaremare 6:931a7fe8fa52 82 //de-accelerate
mariosimaremare 6:931a7fe8fa52 83 for (int i = MAX_SPEED; i > 0; i-=20) {
mariosimaremare 6:931a7fe8fa52 84 if (type == TYPE_SALT)
mariosimaremare 6:931a7fe8fa52 85 _salinitySyringe.settings(1/MICROSTEPS_PER_STEP, direction, i);
mariosimaremare 6:931a7fe8fa52 86 else
mariosimaremare 6:931a7fe8fa52 87 _waterSyringe.settings(1/MICROSTEPS_PER_STEP, direction, i);
mariosimaremare 6:931a7fe8fa52 88 }
mariosimaremare 6:931a7fe8fa52 89
mariosimaremare 6:931a7fe8fa52 90 //remember previous direction
mariosimaremare 6:931a7fe8fa52 91 if (type == TYPE_SALT)
mariosimaremare 6:931a7fe8fa52 92 _previous_direction_salt = direction;
mariosimaremare 6:931a7fe8fa52 93 else
mariosimaremare 6:931a7fe8fa52 94 _previous_direction_pure = direction;
mariosimaremare 6:931a7fe8fa52 95 wait(2);
mariosimaremare 6:931a7fe8fa52 96 }
mariosimaremare 3:7c648d1d8802 97 }
mariosimaremare 6:931a7fe8fa52 98 void Tank::react(double salinity)
mariosimaremare 6:931a7fe8fa52 99 {
mariosimaremare 6:931a7fe8fa52 100 if(salinity < 0.0) {
mariosimaremare 6:931a7fe8fa52 101 // add more pure water
mariosimaremare 6:931a7fe8fa52 102 add(TYPE_SALT, 1, DIRECTION_PULL);
mariosimaremare 6:931a7fe8fa52 103 add(TYPE_SALT, 1, DIRECTION_PUSH);
mariosimaremare 6:931a7fe8fa52 104 add(TYPE_SALT, 2, DIRECTION_PULL);
mariosimaremare 6:931a7fe8fa52 105 add(TYPE_SALT, 2, DIRECTION_PUSH);
mariosimaremare 6:931a7fe8fa52 106 add(TYPE_SALT, 3, DIRECTION_PULL);
mariosimaremare 6:931a7fe8fa52 107 add(TYPE_SALT, 3, DIRECTION_PUSH);
mariosimaremare 6:931a7fe8fa52 108 } else {
mariosimaremare 6:931a7fe8fa52 109 // add more saline solution
mariosimaremare 6:931a7fe8fa52 110 add(TYPE_PURE, 1, DIRECTION_PULL);
mariosimaremare 6:931a7fe8fa52 111 add(TYPE_PURE, 1, DIRECTION_PUSH);
mariosimaremare 6:931a7fe8fa52 112 add(TYPE_PURE, 2, DIRECTION_PULL);
mariosimaremare 6:931a7fe8fa52 113 add(TYPE_PURE, 2, DIRECTION_PUSH);
mariosimaremare 6:931a7fe8fa52 114 add(TYPE_PURE, 3, DIRECTION_PULL);
mariosimaremare 6:931a7fe8fa52 115 add(TYPE_PURE, 3, DIRECTION_PUSH);
mariosimaremare 6:931a7fe8fa52 116 }
mariosimaremare 6:931a7fe8fa52 117 }