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+#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