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authorNicolas Schodet2013-03-29 23:29:57 +0100
committerNicolas Schodet2013-03-30 00:01:58 +0100
commitf7f01cbf53034fb656572758c22f2f392c01290f (patch)
tree9489c820f9129c14329117709a02f4db0a8028f7 /digital/io-hub/src/common-cc/pressure.cc
parent49c97fc3dedbeb92a8169a38ea782113e3e5b575 (diff)
digital/io-hub/src/apbirthday: add mimot & pressure sensor
Diffstat (limited to 'digital/io-hub/src/common-cc/pressure.cc')
-rw-r--r--digital/io-hub/src/common-cc/pressure.cc107
1 files changed, 107 insertions, 0 deletions
diff --git a/digital/io-hub/src/common-cc/pressure.cc b/digital/io-hub/src/common-cc/pressure.cc
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+// 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 "pressure.hh"
+
+#include <algorithm>
+
+Pressure::Pressure (ucoo::Adc &sensor, ucoo::Io &pneum_open,
+ Mimot::Motor &pump)
+ : sensor_ (sensor), pneum_open_ (pneum_open), pump_ (pump),
+ state_ (STATE_INITIAL), wait_ (0), low_ (0)
+{
+}
+
+void
+Pressure::set (int low)
+{
+ low_ = std::min (low, max_ - margin_);
+}
+
+int
+Pressure::get () const
+{
+ return sensor_.read ();
+}
+
+void
+Pressure::update ()
+{
+ // Interval at which the sensor is read.
+ static const int interval = 25;
+ // Rest duration after a pumping session.
+ static const int rest = 250;
+ // Wait duration before the pump is started.
+ static const int open_wait = 125;
+ // Wait duration after the pump has been started before circuit is closed.
+ static const int start_wait = 50;
+ if (wait_)
+ {
+ wait_--;
+ }
+ else
+ {
+ switch (state_)
+ {
+ case STATE_INITIAL:
+ if (low_)
+ {
+ // Open circuit.
+ pneum_open_.set ();
+ state_ = STATE_IDLE;
+ wait_ = open_wait;
+ }
+ break;
+ case STATE_IDLE:
+ if (get () < low_)
+ {
+ // Start pump.
+ pump_.output_set (Mimot::Motor::pwm_max);
+ state_ = STATE_STARTING;
+ wait_ = start_wait;
+ }
+ else
+ wait_ = interval;
+ break;
+ case STATE_STARTING:
+ // Started, close circuit.
+ pneum_open_.reset ();
+ state_ = STATE_PUMPING;
+ break;
+ case STATE_PUMPING:
+ // Pump until high.
+ if (get () > low_ + margin_)
+ {
+ // Done. Stop. Open circuit.
+ pump_.free ();
+ pneum_open_.set ();
+ state_ = STATE_IDLE;
+ wait_ = rest;
+ }
+ else
+ wait_ = interval;
+ break;
+ }
+ }
+}
+