Revision 7:46e65aeb4df2, committed 2016-06-19

Comitter:

mariosimaremare

Date:

Sun Jun 19 23:48:07 2016 +0000

Parent:

6:931a7fe8fa52

Child:

8:6be230b22314

Commit message:

Update the pouring water.

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Ping.cpp	Sun Jun 19 23:48:07 2016 +0000
@@ -0,0 +1,54 @@
+#include "Ping.h"
+ 
+#include "mbed.h"
+ 
+Ping::Ping(PinName PING_PIN)
+        : _event(PING_PIN)
+        , _cmd(PING_PIN)
+        , _timer()
+        {
+            _event.rise(this,&Ping::_Starts);
+            _event.fall(this,&Ping::_Stops);
+            _SPEED_OF_SOUND_CM = 33;
+        } 
+        
+void Ping::_Starts(void)
+{
+      _Valid = false;  // start the timere, and invalidate the current time.
+      _Busy = true;
+      _timer.start();
+      _Time = _timer.read_us();      
+}
+ 
+void Ping::_Stops(void)
+{
+      _Valid = true;  // When it stops, update the time
+      _Busy = false;
+      _Time = _timer.read_us()-_Time;
+}
+ 
+void Ping::Send()
+{
+     
+     _cmd.output();
+     _cmd.write(0);  // see the ping documentation http://www.parallax.com/Portals/0/Downloads/docs/prod/acc/28015-PING-v1.6.pdf
+     wait_us(3);
+     _cmd.write(1);
+     wait_us(3);
+     _cmd.write(0);
+     _cmd.input();
+     
+}
+void Ping::Set_Speed_of_Sound(int SoS_ms )
+{
+     _SPEED_OF_SOUND_CM = SoS_ms;
+}
+ 
+int Ping::Read_cm()
+// -1 means not valid.
+{
+    if(_Valid && ~_Busy) 
+        return ((_Time*_SPEED_OF_SOUND_CM)/1000);
+    else 
+        return -1;
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Ping.h	Sun Jun 19 23:48:07 2016 +0000
@@ -0,0 +1,92 @@
+/* mbed Ping Library
+ * Copyright (c) 2007-2010 rosienej
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+    
+ #ifndef MBED_PING_H
+ #define MBED_PING_H
+ 
+#include "mbed.h"
+/** Ping  class, based on an InterruptIn pin, and a timer
+ *  works with the parallax Ping))) sensor (www.parallax.com)
+ *
+ * Example:
+ * @code
+ * // Continuously send pings and read the sensor
+ * #include "mbed.h"
+ * #include "Ping.h"
+ * 
+ * Ping Pinger(p21);
+ * 
+ * int main() {
+ *     int range;
+ 
+ *     while(1) {
+ *  
+ *        Pinger.Send();    
+ *        wait_ms(30);
+ *        range = Pinger.Read_cm();
+ *     }
+ * }
+ * @endcode
+ */
+class Ping {
+  public:
+   /** Create a Ping object connected to the specified InterruptIn pin
+    *
+    * @param PING_PIN InterruptIn pin to connect to 
+    */
+    Ping(PinName PING_PIN);
+    
+     /** Sends a Ping 
+      *
+      * @param none
+      */
+    void Send(void);
+    
+     /** Set the speed of sound, default 33 cm/ms 
+      *
+      * @param Speed of sound in centimeters per milliseconds
+      */
+    void Set_Speed_of_Sound(int SoS_ms);
+    
+    /** Read the result in centimeters
+      *
+      * @param none
+      */
+    int Read_cm(void);
+    
+  protected:
+    
+    InterruptIn     _event;
+    DigitalInOut    _cmd;
+    Timer           _timer;
+ 
+    bool _Valid;
+    bool _Busy;
+    int  _Time;
+    int  _SPEED_OF_SOUND_CM; /* in milliseconds */
+    
+    void _Starts(void);
+    void _Stops(void);
+    
+  };
+  
+  #endif
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Procedure.cpp	Sun Jun 19 23:48:07 2016 +0000
@@ -0,0 +1,29 @@
+/*
+* G3: WATERPLAY
+*/
+
+#include "Procedure.h"
+
+Procedure::Procedure(
+    Printer &printer
+):
+    _printer(printer)
+{
+}
+int Procedure::proceed()
+{
+    int number_of_procedure = 5;
+    char* procedures[] = {
+        "Q1?",
+        "Q2?",
+        "Q3?",
+        "Q4?",
+        "Q5?",
+    };
+    
+    for(int counter = 0; counter < number_of_procedure; ++counter){
+        _printer.toBoth(procedures[counter]);
+    }
+    
+    return(1);
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Procedure.h	Sun Jun 19 23:48:07 2016 +0000
@@ -0,0 +1,23 @@
+/*
+* G3: WATERPLAY
+*/
+
+#ifndef PROCEDURE_H
+#define PROCEDURE_H
+
+#include "Printer.h"
+#include "mbed.h"
+
+class Procedure
+{
+public:
+    Procedure(
+        Printer &printer
+    );
+    int proceed();
+
+private:
+    Printer &_printer;
+};
+
+#endif
\ No newline at end of file

--- a/Tank.cpp	Fri Jun 17 12:19:16 2016 +0000
+++ b/Tank.cpp	Sun Jun 19 23:48:07 2016 +0000
@@ -9,90 +9,93 @@
 Tank::Tank(
     Printer &printer,
     DRV8825 &salinitySyringe,
-    DRV8825 &waterSyringe
+    DRV8825 &waterSyringe,
+    Ping &pinger
 ):
     _printer(printer),
     _salinitySyringe(salinitySyringe),
     _waterSyringe(waterSyringe),
+    _pinger(pinger),
     _previous_direction_salt(-1),
     _previous_direction_pure(-1),
     _position_salt(14),
     _position_pure(27)
 {
 }
+
+bool Tank::is_proximity_ok()
+{
+    int range = 0;
+    char buffer[32];
+
+    _pinger.Send();
+    wait(0.1);
+    range = _pinger.Read_cm();
+
+    range = range/2;
+    sprintf(
+        buffer,
+        "Range in cm: %d",
+        range
+    );
+    _printer.toBoth(buffer);
+
+    if (range >= 12) {
+        _printer.toBoth("Proximity ok");
+        return true;
+    }
+    return false;
+}
+
 void Tank::add(int type, int mililiters, int direction)
 {
-    if (mililiters > 0) {
-        if (type == TYPE_SALT) {
-            if (direction == DIRECTION_PULL) {
-                if (_position_salt + mililiters >= POSITION_MAX)
-                    mililiters = 0;
-                else
-                    _position_salt = _position_salt + mililiters;
-            } else {
-                if (_position_salt - mililiters <= POSITION_MIN)
-                    mililiters = 0;
-                else
-                    _position_salt = _position_salt - mililiters;
-            }
-        } else {
-            if (direction == DIRECTION_PULL)
-                if (_position_pure + mililiters >= POSITION_MAX)
-                    mililiters = 0;
-                else
-                    _position_pure = _position_pure + mililiters;
-            else if (_position_pure - mililiters <= POSITION_MIN)
-                mililiters = 0;
-            else
-                _position_pure = _position_pure - mililiters;
-        }
+    for (int i = 25; i < MAX_SPEED; i+=20) {
+        if (type == TYPE_SALT)
+            _salinitySyringe.settings(1/MICROSTEPS_PER_STEP, direction, i);
+        else
+            _waterSyringe.settings(1/MICROSTEPS_PER_STEP, direction, i);
+    }
 
-        //accelerate
-        for (int i = 25; i < MAX_SPEED; i+=20) {
-            if (type == TYPE_SALT)
-                _salinitySyringe.settings(1/MICROSTEPS_PER_STEP, direction, i);
-            else
-                _waterSyringe.settings(1/MICROSTEPS_PER_STEP, direction, i);
-        }
+    //fix the changing of directions for pure
+    if (type == TYPE_PURE) {
+        //mililiters = mililiters * 2.0;
+        if (_previous_direction_pure != direction)
+            mililiters = mililiters + 1.0;
+    }
 
-        //fix the changing of directions for pure
-        if (type == TYPE_PURE) {
+    //fix the changing of directions for salt
+    if (type == TYPE_SALT) {
+        //mililiters = mililiters * 2.0;
+        if (_previous_direction_salt != direction)
+            mililiters = mililiters + 1.0;
+        //if (_previous_direction_salt == DIRECTION_PULL)
+        //mililiters = mililiters + 0.5;
+    }
 
-            mililiters = mililiters * 2.2;
-            if (_previous_direction_pure != direction)
-                mililiters = mililiters + 1;
-        }
+    //move with constant speed
+    for (int i = 1; i < (MOVEMENT + (int)floor(((mililiters - 1.0)*STEP_EXTRA))); i+=1) {
+        if (type == TYPE_SALT)
+            _salinitySyringe.settings(1/MICROSTEPS_PER_STEP, direction, MAX_SPEED);
+        else
+            _waterSyringe.settings(1/MICROSTEPS_PER_STEP, direction, MAX_SPEED);
 
-        //fix the changing of directions for salt
-        if (type == TYPE_SALT) {
-            mililiters = mililiters * 0.9;
-            if (_previous_direction_pure != direction)
-                mililiters = mililiters + 1;
-        }
+        //if ((i - MOVEMENT) % STEP_EXTRA == 0 && !proximity_ok())
+        //  break;
+    }
 
-        //move with constant speed
-        int max_loop = (MOVEMENT + (mililiters - 1) * STEP_EXTRA);
-        for (int i = 1; i < max_loop; i++) {
-            if (type == TYPE_SALT)
-                _salinitySyringe.settings(1/MICROSTEPS_PER_STEP, direction, MAX_SPEED);
-            else
-                _waterSyringe.settings(1/MICROSTEPS_PER_STEP, direction, MAX_SPEED);
-        }
+    //de-accelerate
+    for (int i = MAX_SPEED; i > 0; i-=20) {
+        if (type == TYPE_SALT)
+            _salinitySyringe.settings(1/MICROSTEPS_PER_STEP, direction, i);
+        else
+            _waterSyringe.settings(1/MICROSTEPS_PER_STEP, direction, i);
+    }
 
-        //de-accelerate
-        for (int i = MAX_SPEED; i > 0; i-=20) {
-            if (type == TYPE_SALT)
-                _salinitySyringe.settings(1/MICROSTEPS_PER_STEP, direction, i);
-            else
-                _waterSyringe.settings(1/MICROSTEPS_PER_STEP, direction, i);
-        }
-
-        //remember previous direction
-        if (type == TYPE_SALT)
-            _previous_direction_salt = direction;
-        else
-            _previous_direction_pure = direction;
-        wait(2);
+    //remember previous direction
+    if (type == TYPE_SALT) {
+        _previous_direction_salt = direction;
+    } else {
+        _previous_direction_pure = direction;
     }
 }
 void Tank::react(double salinity)

--- a/Tank.h	Fri Jun 17 12:19:16 2016 +0000
+++ b/Tank.h	Sun Jun 19 23:48:07 2016 +0000
@@ -6,6 +6,7 @@
 #define TANK_H
 
 #include "DRV8825.h"
+#include "Ping.h"
 #include "Printer.h"
 #include "mbed.h"
 
@@ -15,7 +16,8 @@
     Tank(
         Printer &printer,
         DRV8825 &salinitySyringe,
-        DRV8825 &waterSyringe
+        DRV8825 &waterSyringe,
+        Ping &pinger
     );
     static const int DIRECTION_PULL = 1;
     static const int DIRECTION_PUSH = 0;
@@ -25,15 +27,17 @@
     static const int POSITION_MIN = 0;
     static const int MAX_SPEED = 8000;
     static const int MICROSTEPS_PER_STEP = 32;
-    static const int MOVEMENT = 1800;
-    static const int STEP_EXTRA = 2500;
+    static const int MOVEMENT = 4600;
+    static const int STEP_EXTRA = 3000;
     void add(int type, int mililiters, int direction);
     void react(double salinity);
+    bool is_proximity_ok();
 
 private:
     Printer &_printer;
     DRV8825 &_salinitySyringe;
     DRV8825 &_waterSyringe;
+    Ping &_pinger;
     int _status;
     int _strStatus;
     int _previous_direction_salt;

--- a/TemperatureSensor.cpp	Fri Jun 17 12:19:16 2016 +0000
+++ b/TemperatureSensor.cpp	Sun Jun 19 23:48:07 2016 +0000
@@ -38,7 +38,11 @@
     double k1 = K1 * logRT;
     double k2 = K2 * pow(logRT, 3.0);
     double kelvin = 1.0 / (k0 + k1 + k2);
-    this->_temperature = (kelvin + KELVIN_TO_CELCIUS) + VARIANCE;
+    this->_temperature = (kelvin + KELVIN_TO_CELCIUS);
+    
+    if(this->_temperature > KELVIN_TO_CELCIUS){
+        this->_temperature += VARIANCE;
+    }
     
     this->_status = 0.0;
     this->_strStatus = "OK";

--- a/main.cpp	Fri Jun 17 12:19:16 2016 +0000
+++ b/main.cpp	Sun Jun 19 23:48:07 2016 +0000
@@ -44,10 +44,13 @@
     LED4
 );
 
+Ping pinger(p30);
+
 Tank tank(
     printer,
     salinitySyringe,
-    waterSyringe
+    waterSyringe,
+    pinger
 );
 
 Waterplay waterplay(