Revision 9:1bdf5107920f, committed 2016-11-22

Comitter:

RichardHoekstra

Date:

Tue Nov 22 22:34:18 2016 +0000

Parent:

8:648c3963a8e0

Commit message:

OOP'd this bitch up

Changed in this revision

--- a/Control.h	Tue Nov 22 22:01:20 2016 +0000
+++ b/Control.h	Tue Nov 22 22:34:18 2016 +0000
@@ -11,6 +11,15 @@
     float curve_max;   //[mmHg]
     float curve_period; //[ms]
     int curve_step;
+    int curve_step_ms; //The time it takes to make one step
+    
+    //Constant variables
+    float constant_pressure;
+    float constant_flow;
+    float constant_speed;
+    
+    //Ticker
+    Ticker t;
     
     //Motor output    
     float gradient; //pressure/percentagemaxpowerorjustvoltiguess
@@ -44,10 +53,26 @@
                 }
                 break;
             case MODE_ARTERIAL:
-                break;    
+                break;
+            default:
+                break; 
         }   
         
     }
+    void rebuild_buffer(){
+        if(curve_mode == MODE_SINUS){
+            float amplitude = (curve_max - curve_min)/2; //amplitude*sin(t) //van -amplitude naar +amplitude
+            //Als sin(x) = 0, moet de curve exact in het midden van max en min zitten
+            float offset = (curve_max+curve_min)/2;
+            //Genereer een volle periode en zet het in de buffer
+            float step = 2*3.1415926/CURVE_BUFFER_SIZE;
+            for(int i=0;i<CURVE_BUFFER_SIZE;i++){        
+                curve_buffer[i] = offset+amplitude*sin(step*i);
+            }
+        } else if(curve_mode == MODE_ARTERIAL){
+           //Coming to a cinema near you... soon!                    
+        }
+    }
     
 public:
     Control(PinName n_pin) : motorOut(n_pin){
@@ -55,7 +80,15 @@
         curve_min = 80;    //[mmHg]
         curve_max = 120;   //[mmHg]
         curve_period = 1000; //[ms]
-    }    
+        motorOut.period_ms(1); //1kHz
+        rebuild_buffer();
+    }   
+    void start(){
+        t.attach(callback(this, &Control::run), (curve_step_ms/1000.0));
+    }
+    void stop(){
+        t.detach();        
+    } 
     void normalize(AnalogIn& sensor){
         //f'(x) = a
         //f'(x) = dy/dx
@@ -73,24 +106,30 @@
         gradient = (p2-p1)/((float)0.1);
     }
     void set_curve(float min, float max, float period){
-        curve_min = min;
+        curve_min = min; //mmHg
+        curve_max = max; //mmHg
+        curve_period = period; //ms
+        curve_step_ms = curve_period/CURVE_BUFFER_SIZE;  
+        rebuild_buffer();
+    }
+    void set_min(float min){
+         curve_min = min;
+         rebuild_buffer();
+    }
+    void set_max(float max){
         curve_max = max;
-        curve_period = period;       
+        rebuild_buffer();
+    }
+    void set_period(float period){
+        curve_period = period; //ms
+        curve_step_ms = curve_period/CURVE_BUFFER_SIZE;  
+        rebuild_buffer();
     }
     void set_mode(int mode){
-        curve_mode = (curve_t)mode;    
+        curve_mode = (curve_t)mode;
+        rebuild_buffer(); 
     }
-    void rebuild_buffer_sinus(){
-        float amplitude = (curve_max - curve_min)/2; //amplitude*sin(t) //van -amplitude naar +amplitude
-        //Als sin(x) = 0, moet de curve exact in het midden van max en min zitten
-        float offset = (curve_max+curve_min)/2;
-        //Genereer een volle periode en zet het in de buffer
-        float step = 2*3.1415926/CURVE_BUFFER_SIZE;
-        for(int i=0;i<CURVE_BUFFER_SIZE;i++){        
-            curve_buffer[i] = offset+amplitude*sin(step*i);
-        }
-    }
-    void rebuild_buffer_arterial(){
-        //Coming to a cinema near you... soon!         
-    } 
+    void set_constant_pressure(int pressure){   constant_pressure = pressure; }
+    void set_constant_flow(int flow){           constant_flow = flow; }
+    void set_constant_speed(int speed){         constant_speed = speed; }
 };

--- a/main.cpp	Tue Nov 22 22:01:20 2016 +0000
+++ b/main.cpp	Tue Nov 22 22:34:18 2016 +0000
@@ -4,7 +4,11 @@
 #include "Control.h"
 
 
-
+enum curve_t    { OFF=0, CONSTANT_PRESSURE, CONSTANT_FLOW, CONSTANT_SPEED, MODE_SINUS, MODE_ARTERIAL
+                    } curve_mode;
+                    
+                    
+Control control(D8);
 //I2C settings
     #define SDA D10
     #define SCL D11
@@ -12,26 +16,10 @@
     #define I2C_BUFFER_SIZE 10
     I2CSlave slave(SDA,SCL);
 
-//Curve settings
 
-    enum curve_t    { OFF=0, CONSTANT_PRESSURE, CONSTANT_FLOW, CONSTANT_SPEED, MODE_SINUS, MODE_ARTERIAL
-                    } curve_mode;
-    float curve_buffer[CURVE_BUFFER_SIZE];
-    float curve_min=80;    //[mmHg]
-    float curve_max=120;   //[mmHg]
-    float curve_period=10; //[ms]
-    int curve_step_us=(int)((curve_period*1000)/CURVE_BUFFER_SIZE);//[us]
-//Constant variables
-    float constant_pressure;
-    float constant_flow;
-    float constant_speed;
 //Sensor variables
     float sensor_pressure;
-    float SENSOR_FLOW;
-
-// ----- MOTOR CONTROLLER SETTINGS -----
-    float rel_pressure_volt; //The relationship between increase in voltage and increase in pressure
-    PwmOut motorOut(D8);
+    float sensor_flow;
     
     
 // ----- SENSOR CONTROLLER SETTINGS -----
@@ -81,25 +69,6 @@
     }
 }
     
-
-//Note: om de frequentie aan te passen speel je de buffer sneller af. Hierbij neemt nauwkeurigheid wel af. Om dit te verminderen
-//heb je meer punten in de buffer nodig.
-void curve_sinus(){
-    float amplitude = (curve_max - curve_min)/2; //amplitude*sin(t) //van -amplitude naar +amplitude
-    //Als sin(x) = 0, moet de curve exact in het midden van max en min zitten
-    float offset = (curve_max+curve_min)/2;
-    //Genereer een volle periode en zet het in de buffer
-    float step = 2*3.1415926/CURVE_BUFFER_SIZE;
-    for(int i=0;i<CURVE_BUFFER_SIZE;i++){        
-        curve_buffer[i] = offset+amplitude*sin(step*i);
-    }
-}
-
-/*
-float curve_arterial(){
-    //Help.
-}
-*/
 //Split an integer into two char
 void int_to_2_char(char* arr, int val, int first_element = 0){
     arr[first_element] = val>>8;
@@ -116,30 +85,27 @@
     switch(command){
     // ----- MOTOR CONTROLLER COMMANDS -----
         case SET_MODE:
-            curve_mode = (curve_t)char2_to_int(arr,1);
+            control.set_mode(char2_to_int(arr,1));
             break;
         case SET_CONSTANT_PRESSURE:
-            constant_pressure = char2_to_int(arr,1)/100.0;
+            control.set_constant_pressure(char2_to_int(arr,1)/100.0);
             break;
         case SET_CONSTANT_FLOW:
-            constant_flow = char2_to_int(arr,1)/10.0;
+            control.set_constant_flow(char2_to_int(arr,1)/10.0);
             break;
         case SET_CONSTANT_SPEED:
-            constant_speed = (float)char2_to_int(arr,1);
+            control.set_constant_speed((float)char2_to_int(arr,1));
             break;
         case SET_MIN:
-            curve_min = char2_to_int(arr,1)/100.0;
-            curve_sinus();
+            control.set_min(char2_to_int(arr,1)/100.0);
             break;
         case SET_MAX:
-            curve_max = char2_to_int(arr,1)/100.0;
-            curve_sinus();
+            control.set_max(char2_to_int(arr,1)/100.0);
             break;
         case SET_FREQUENCY:
             //Note: it receives a frequency but internally converts it to
             //      a period in ms immediately.
-            curve_period = 1000/((char2_to_int(arr,1))/100.0);
-            curve_sinus();
+            control.set_period(1000/((char2_to_int(arr,1))/100.0));
             break;
     // ----- SENSOR CONTROLLER COMMANDS -----
         case SET_RESPONSE_SENSOR_PRESSURE_1:
@@ -207,24 +173,6 @@
     return true;   
 }
 
-void control_init(AnalogIn& sensor){
-    float press1;
-    float press2;
-    //Set the motor at 10% power
-    motorOut = 0.1;
-    //Wait several seconds for everything to settle
-    wait(2);
-    press1 = sensor.read(); //DANGEROUS: Not moving averaged
-    //Set the motor at 20% power
-    motorOut = 0.2;
-    //Wait several seconds for everything to settle
-    wait(2);
-    press2 = sensor.read();
-    
-    //TODO: Make this better
-    rel_pressure_volt = press1/press2;
-}
-
 int main() {
     // ----- SENSOR CONTROLLER STUFF -----
     //Pins
@@ -233,7 +181,6 @@
                 tempSensor1(A2),
                 tempSensor2(A3),
                 flowSensor(A4);
-
     //mbed ondersteund onneindig veel timers
     Timer   t_druk1,
             t_druk2,
@@ -246,12 +193,13 @@
     
     
     slave.address(motor_addr); //Set the correct address for this module
-    motorOut.period_ms(1); //1KHz
     char buffer[I2C_BUFFER_SIZE] = {0}; //Create the buffer for I2C
     bool buffer_changed = false;
     
-    //Calibrate the motor controller
-    control_init(drukSensor1);
+    //Calibrate the motor controller on the pressure sensor
+    control.normalize(drukSensor1);
+    control.start();
+    
     while(1) {
         int i = slave.receive();        
         switch (i) {