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Added support for grab sampler from comeadhra repository. #27

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Added support for grab sampler from comeadhra repository. #27

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249 changes: 237 additions & 12 deletions firmware/Components.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -350,9 +350,68 @@ char * AtlasPH::name(){
}

bool AtlasPH::set(const char* param, const char* value){
if (strncmp(param, "temp", 4) == 0){
this->setTemp(atof(value));
return true;
if (strncmp(param, "t", 1) == 0){
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Newline this brace.

if ( value != NULL )
{
this->setTemp(atof(value));
return true;
}
//Send temperature compensation value
else
{
char output_str[DEFAULT_BUFFER_SIZE + 3];
snprintf(output_str, DEFAULT_BUFFER_SIZE,
"{"
"\"s%u\":{"
"\"type\":\"%s\","
"\"data\":\t,%f\""
"}"
"}",
channel_,
this->name(),
temperature
);
send(output_str);

}
} else if (strncmp(param, "c", 1) == 0){
//Get calibration status
if (value == NULL)
{
char output_str[DEFAULT_BUFFER_SIZE + 3];
snprintf(output_str, DEFAULT_BUFFER_SIZE,
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Fix indent on this block.

"{"
"\"s%u\":{"
"\"type\":\"%s\","
"\"data\":\"c,%f\""
"}"
"}",
channel_,
this->name(),
calibrationStatus
);
send(output_str);

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Remove whitespace, fix indent (this might be a spaces/tabs mix-- if so, convert everything to spaces).

}
//Calibrate PH lowpoint
else if(strncmp(value, "low", 3) == 0)
{
this->calibrate(-1);
return true;
}
//Calibrate PH midpoint
else if(strncmp(value, "mid", 3) == 0)
{
this->calibrate(0);
return true;
}
//Calibrate PH highpoint
else if(strncmp(value, "high", 4) == 0)
{
this->calibrate(1);
return true;
}
//Serial.println("trigger calibrate method");
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Remove this unless we regularly use it for testing.

}
return false;
}
Expand Down Expand Up @@ -571,21 +630,93 @@ char * AtlasDO::name(){
}

bool AtlasDO::set(const char* param, const char* value){
if (strncmp(param, "ec", 2) == 0){
this->setEC(atof(value));
return true;
} else if (strncmp(param, "temp", 4) == 0){
this->setTemp(atof(value));
return true;
} else if (strncmp(param, "cal", 3) == 0){
//Serial.println("trigger calibrate method");
if (strncmp(param, "e", 1) == 0){
if ( value != NULL )
{
this->setEC(atof(value));
return true;
}
else
{
char output_str[DEFAULT_BUFFER_SIZE + 3];
snprintf(output_str, DEFAULT_BUFFER_SIZE,
"{"
"\"s%u\":{"
"\"type\":\"%s\","
"\"data\":\e,%f\""
"}"
"}",
channel_,
this->name(),
ec
);
send(output_str);
}
} else if (strncmp(param, "t", 1) == 0){
if ( value != NULL )
{
this->setTemp(atof(value));
return true;
}
//Send temperature compensation value
else
{
char output_str[DEFAULT_BUFFER_SIZE + 3];
snprintf(output_str, DEFAULT_BUFFER_SIZE,
"{"
"\"s%u\":{"
"\"type\":\"%s\","
"\"data\":\t,%f\""
"}"
"}",
channel_,
this->name(),
temperature
);
send(output_str);

}
} else if (strncmp(param, "c", 1) == 0){
//Get calibration status
if (value == NULL)
{
char output_str[DEFAULT_BUFFER_SIZE + 3];
snprintf(output_str, DEFAULT_BUFFER_SIZE,
"{"
"\"s%u\":{"
"\"type\":\"%s\","
"\"data\":\"c,%f\""
"}"
"}",
channel_,
this->name(),
calibrationStatus
);
send(output_str);

}
//Zero DO sensor
else if(strncmp(value, "zero", 4) == 0)
{
this->calibrate(0);
return true;
}
//Calibrate DO sensor to atmospheric pressure
else if(strncmp(value, "atm", 3) == 0)
{
this->calibrate(1);
return true;
}

//Serial.println("trigger calibrate method");
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Remove commented print unless regularly used for debugging.

}
return false;
}

//Clamp temperature to range 0,100.0
void AtlasDO::setTemp(double temp) {
if (temp > 0.0){
this->temperature = temp;
this->temperature = min(temp, 100.0);
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What's the reason to clamp this? Is there some out-of-range issue we are worried about? Seems bad to not know we are out of range.

lastCommand = SET_TEMP;
this->sendCommand();
}
Expand Down Expand Up @@ -908,3 +1039,97 @@ uint32_t Winch::encoder(bool *valid)
return enc1;
}


GrabSampler::GrabSampler(int channel):Sensor(channel), PoweredSensor(channel, true), channel_(channel)
{
// init_time = millis();

pinMode(board::SENSOR[channel_].GPIO[board::RX_POS], OUTPUT);
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More indent fixes.

pinMode(board::SENSOR[channel_].GPIO[board::TX_POS], OUTPUT);
pinMode(board::SENSOR[channel_].GPIO[board::RX_NEG], OUTPUT);
pinMode(board::SENSOR[channel_].GPIO[board::TX_NEG], OUTPUT);
disable(0);
disable(2);

}

/*void GrabSampler::loop()
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Remove commented code block unless we plan to use it.

{
if( millis() - init_time > wait_time && !isActive)
{
//start_time = millis();
//isActive = true;
powerOn();
pinMode(board::SENSOR[channel_].GPIO[board::RX_POS], HIGH);
pinMode(board::SENSOR[channel_].GPIO[board::RX_NEG], HIGH);
pinMode(board::SENSOR[channel_].GPIO[board::TX_POS], HIGH);
pinMode(board::SENSOR[channel_].GPIO[board::TX_NEG], HIGH);
}
else if( isActive && millis() - start_time > pump_time )
{
powerOff();
pinMode(board::SENSOR[channel_].GPIO[board::RX_POS], LOW);
pinMode(board::SENSOR[channel_].GPIO[board::RX_NEG], LOW);
pinMode(board::SENSOR[channel_].GPIO[board::TX_POS], LOW);
pinMode(board::SENSOR[channel_].GPIO[board::TX_NEG], LOW);
start_time = millis()*100;
}


}*/
char * GrabSampler::name()
{
return "GrabSampler";

}

void GrabSampler::enable(int pump_num)
{

switch(pump_num)
{
case 0: case 1: digitalWrite(board::SENSOR[channel_].GPIO[board::RX_POS], HIGH); analogWrite(board::SENSOR[channel_].GPIO[board::RX_NEG], pump_num == 0 ? 255 : 0); break;
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Fix indenting/newlines here to look like a normal switch case.

case 2: case 3: digitalWrite(board::SENSOR[channel_].GPIO[board::TX_POS], HIGH); analogWrite(board::SENSOR[channel_].GPIO[board::TX_NEG], pump_num == 2 ? 255 : 0); break;
default: break;
};
}


void GrabSampler::disable(int pump_num)
{
digitalWrite(board::SENSOR[channel_].GPIO[pump_num < 2 ? board::RX_POS: board::TX_POS], LOW);
}

bool GrabSampler::set(const char* param, const char* value)
{
// Turn pumps on or off depending on command
if (!strncmp("e", param, 2))
{
int pump_num = atol(value);
active[pump_num] = true;
enable(pump_num);
powerOn();
return true;
}
else if (!strncmp("d", param, 2))
{
int pump_num = atol(value);
active[pump_num] = false;
disable(pump_num);

//Check if any pump is still enabled
for(int i = 0; i < 4; i++) if (active[i]) return true;

powerOff();
return true;
}
// Return false for unknown command.
else
{
return false;
}
}




15 changes: 15 additions & 0 deletions firmware/Components.h
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Original file line number Diff line number Diff line change
Expand Up @@ -244,6 +244,21 @@ namespace platypus
int32_t desired_velocity_;
uint32_t desired_acceleration_;
};

class GrabSampler : public PoweredSensor
{
public:
GrabSampler(int channel);
virtual char * name();
void enable(int pump_num);
void disable(int pump_num);
bool set(const char* param, const char* value);

private:
int channel_;
bool active[4] = {0,0,0,0};
Servo pwm[2];
};
}

#endif //COMPONENTS_H
6 changes: 3 additions & 3 deletions firmware/firmware.ino
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Original file line number Diff line number Diff line change
Expand Up @@ -194,9 +194,9 @@ void setup()
// TODO: replace this with smart hooks.
// Initialize sensors
platypus::sensors[0] = new platypus::ServoSensor(0);
platypus::sensors[1] = new platypus::GY26Compass(1);
platypus::sensors[2] = new platypus::GY26Compass(2);
platypus::sensors[3] = new platypus::GY26Compass(3);
platypus::sensors[1] = new platypus::AtlasDO(1);
platypus::sensors[2] = new platypus::AtlasPH(2);
platypus::sensors[3] = new platypus::GrabSampler(3);

// Initialize motors
platypus::motors[0] = new platypus::Dynamite(0);
Expand Down