Tank.h

00001 /*
00002 * G3: WATERPLAY
00003 */
00004 
00005 #ifndef TANK_H
00006 #define TANK_H
00007 
00008 #include "DRV8825.h"
00009 #include "Flasher.h"
00010 #include "Ping.h"
00011 #include "Printer.h"
00012 #include "mbed.h"
00013 
00014 class Tank
00015 {
00016 public:
00017     Tank(
00018         Printer &printer,
00019         DRV8825 &salinitySyringe,
00020         DRV8825 &waterSyringe,
00021         Ping &pinger,
00022         Flasher &alarm
00023     );
00024     static const int DIRECTION_PULL = 1;
00025     static const int DIRECTION_PUSH = 0;
00026     static const int TYPE_SALT = 1;
00027     static const int TYPE_PURE = 0;
00028     static const int POSITION_MAX = 35;
00029     static const int POSITION_MIN = 0;
00030     static const int MAX_SPEED = 8000;
00031     static const int MICROSTEPS_PER_STEP = 32;
00032     static const int MOVEMENT = 4600;
00033     static const int STEP_EXTRA = 3000;
00034     static const float ADDED_SALT = 15.0;
00035     static const float ADDED_WATER = 15.0;
00036     static const int PROXIMITY_CHECK_POINT = 100;
00037     void add(int type, int mililiters, int direction);
00038     void react(double salinity);
00039     bool is_proximity_ok();
00040     char* getStrStatus();
00041     void initialize();
00042 
00043 private:
00044     Printer &_printer;
00045     DRV8825 &_salinitySyringe;
00046     DRV8825 &_waterSyringe;
00047     Ping &_pinger;
00048     Flasher &_alarm;
00049     int _status;
00050     char* _strStatus;
00051     int _previous_direction_salt;
00052     int _previous_direction_pure;
00053     int _position_salt;
00054     int _position_pure;
00055     float _added_liquid;
00056 };
00057 
00058 #endif