Diff: Heater.cpp

Revision:

25:09a315a59956

Parent:

23:947850bbf325

Child:

26:f6c98b05ee85

--- a/Heater.cpp	Thu Aug 15 10:34:55 2019 +0000
+++ b/Heater.cpp	Mon Aug 19 07:55:38 2019 +0000
@@ -13,8 +13,6 @@
 extern Timer timer;
 extern DigitalIn adc_busy;
 extern MODSERIAL pc;  
-extern int log_count;
-extern float R_avg;
 extern DigitalOut led_0;
 
     
@@ -22,10 +20,6 @@
     :R_ref(R_ref),i_port(i_port),v_port(v_port),drive(drive),guard(guard),corr_grad(corr_grad),corr_int(corr_int) {}
 
 
-// Convert from R to T using the linear relationship - T = R * corr_grad + corr_int
-float Heater::R_to_T(const float R) const {return R*corr_grad + corr_int;}
-float Heater::T_to_R(const float T) const {return (T - corr_int)/corr_grad;}
-
 void Heater::output()const
 {
     //Prints the current state to the terminal
@@ -35,28 +29,24 @@
 void Heater::read()
 {
     //Reads R and then resets the drive back to its previous value
-    
+
     int i = 0;
     //float error_prev = error;
     
     double drive_prev = drive->read();     //Store previous value of drive
-    //drive->period_ticks(15);         //Set period to 1us for the measurement
-    //guard->period_ticks(15);
     *drive = 1.0f;              //Turn the driver on for the measurement
-    //led_0 = 1;
     wait_us(MEAS_DELAY);        //Wait for ADC to settle
-    //led_0 = 0;
-    adc.start_conversion(ALL_CH);
+
+    adc.start_conversion(15);
+
     //Incremental back off until ADC is free
     while(adc_busy == 1)
         {
             wait_us(1);
             i++;
         }        
+
     drive->write(0);       //Reset the duty cycle back to what it was
-    //drive->period_ticks(1000);         //Reset the period to what it was
-    //guard->period_ticks(1000);
-
 
     //Get voltage, current and R values from the ADC conversion
     adc.read_channels();
@@ -68,11 +58,10 @@
     //Get error values
     
     error = R_ref - R;
-    //error_diff = (error - error_prev)/WAIT_DELAY;
     
-    //Avoid integral windup by limiting error past actuation saturation (actuator does saturate for any negative error, but  to ensure integrated error can decrease, the limit has been set to the negative of the positive limit
-    //if (error*Kp > WIND_UP_LIMIT) {error_integrated += WIND_UP_LIMIT/Kp;}
-    //else if (error*Kp < -WIND_UP_LIMIT) {error_integrated -= WIND_UP_LIMIT/Kp;}
+    //Only allow positive integrated errors and limit change in integrated error
+    //to help avoid integral windup    
+    
     if (abs(error) < WIND_UP_LIMIT) {error_integrated += error;}
     if (error_integrated < 0.0) {error_integrated = 0.0;}
 
@@ -81,75 +70,36 @@
 
 
 
-void Heater::hold(const int hold_time)
-{
-    //Holds the heater at R_ref for the given hold time
-    //  in: int hold_time - is the time in ms to hold the reference
-    
-    int end_time = timer.read_ms() + hold_time;
-    while (timer.read_ms() < end_time)
-    {
-        read();
-        drive->write((double) (Kp * (error + error_integrated/Ti)));
-        guard->write((double) (Kp * GUARD_PWM_RATIO * (error + error_integrated/Ti)));
-        //Output the error every LOG_LIM reads
-
-        log_count++;
-        if (log_count >= LOG_LIM)
-        {
-        log_count = 0;
-        output();
-        }
-        wait_ms(WAIT_DELAY);    //Wait before reading again  
-    }
-}
-
-
-void Heater::ramp_R(const int ramp_time, const float R_final, const float R_start)
+void Heater::update()
 {
-    //Ramps the heater from R_start to R_final for the given hold time
-    //  in: int hold_time - is the time in ms to hold the reference
-    //      float R_final - is the final R_ref value
-    //      float R_start - is the initial R_ref value
-
-    int time = timer.read_ms();
-    int start_time = time;
-    int end_time = start_time + ramp_time;
-    float ramp_rate = (R_final - R_start)/ramp_time;
-    
-    while (time < end_time)
+    //Update PWM from setpoint and resistance
+    read();
+    drive->write((double) (Kp * (error + error_integrated/Ti)));
+    guard->write((double) (Kp * GUARD_PWM_RATIO * (error + error_integrated/Ti)));
+    log_count++;
+    if (log_count >= LOG_LIM)
     {
-        Set_R_ref(R_start + ramp_rate * (time - start_time));
-        hold(1);
-        time = timer.read_ms();
+    log_count = 0;
+    output();
     }
-    
-}
-    
-void Heater::ramp_T(const int ramp_time, const float T_final, const float T_start) 
-{
-    //Ramps the heater from T_start to T_final for the given hold time
-    //  in: int hold_time - is the time in ms to hold the reference
-    //      float T_final - is the final T_ref value
-    //      float T_start - is the initial T_ref value
-    ramp_R(ramp_time, T_to_R(T_final), T_to_R(T_start));
+
 }
 
 
 
-void Heater::Set_R_ref(float R) 
+void Heater::Set_ref(float R) 
 {
     R_ref = R;
-    error_integrated = 0;
 }
-void Heater::Set_T_ref(float T_ref) {R_ref = T_to_R(T_ref);}
-void Heater::Set_D(float D) {drive->write(D);}
+void Heater::Set_D(float D) {
+    drive->write(D);
+    guard->write(D*GUARD_PWM_RATIO);
+    }
 
 int Heater::Get_i() const {return curr;}
 int Heater::Get_v() const {return v;}
 
 float Heater::Get_R() const {return R;}
-float Heater::Get_T() const {return R_to_T(R);}
 
 void Heater::turn_on () 
 {