#ifndef pressure_hh #define pressure_hh // io-hub - Modular Input/Output. {{{ // // Copyright (C) 2013 Nicolas Schodet // // APBTeam: // Web: http://apbteam.org/ // Email: team AT apbteam DOT org // // This program is free software; you can redistribute it and/or modify // it under the terms of the GNU General Public License as published by // the Free Software Foundation; either version 2 of the License, or // (at your option) any later version. // // This program is distributed in the hope that it will be useful, // but WITHOUT ANY WARRANTY; without even the implied warranty of // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the // GNU General Public License for more details. // // You should have received a copy of the GNU General Public License // along with this program; if not, write to the Free Software // Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. // // }}} #include "ucoolib/intf/adc.hh" #include "ucoolib/intf/io.hh" #include "mimot.hh" /// Handle pressure sensor and pump. class Pressure { public: /// Constructor. Pressure (ucoo::Adc &sensor, ucoo::Io &pneum_open, Mimot::Motor &pump); /// Set desired pressure (set low threshold). void set (int low); /// Get current pressure. int get () const; /// To be called at each cycle. void update (); private: ucoo::Adc &sensor_; ucoo::Io &pneum_open_; Mimot::Motor &pump_; /// Maximum pressure. static const int max_ = 4000; /// Hysteresis margin. static const int margin_ = max_ / 16; /// Pressure FSM state. enum State { /// Start state, circuit is closed, no pressure. STATE_INITIAL, /// Idle, pressure is OK, circuit is open. STATE_IDLE, /// Starting the pump, with open circuit. STATE_STARTING, /// Pumping until the pressure is OK, circuit is closed. STATE_PUMPING, }; State state_; /// Wait counter before next action. int wait_; /// Pressure sensor low threshold. int low_; }; #endif // pressure_hh