From 66f44831377d3f504367816f08164dd91d601dda Mon Sep 17 00:00:00 2001
From: David Gauchard <gauchard@laas.fr>
Date: Tue, 25 Apr 2023 18:29:57 +0200
Subject: [PATCH] consolidate
---
cli.cpp | 4 ++--
motor.h | 8 ++++----
pousseseringue-arduino.cpp | 21 ++++++++++++++-------
syringe.cpp | 22 ++++++++++++++++------
syringe.h | 1 +
5 files changed, 37 insertions(+), 19 deletions(-)
diff --git a/cli.cpp b/cli.cpp
index 61f184c..968e3c8 100644
--- a/cli.cpp
+++ b/cli.cpp
@@ -190,7 +190,7 @@ void Cli::loop (Stream& input)
copyNextToTemp();
}
- Serial.printf("%sVOL: %g ul (%g mm)\n", _msgHeader.c_str(), syringe.confToMm3(), syringe.confToMm());
+ Serial.printf("%sVOL: %g ul (%g mm) (target)\n", _msgHeader.c_str(), syringe.confToMm3(), syringe.confToMm());
}
else if (kw(F("MM")))
{
@@ -203,7 +203,7 @@ void Cli::loop (Stream& input)
copyNextToTemp();
}
- Serial.printf("%sVOL: %g ul (%g mm)\n", _msgHeader.c_str(), syringe.confToMm3(), syringe.confToMm());
+ Serial.printf("%sVOL: %g ul (%g mm) (target)\n", _msgHeader.c_str(), syringe.confToMm3(), syringe.confToMm());
}
else if (kw(F("DIA")))
{
diff --git a/motor.h b/motor.h
index 51ba067..755db7e 100644
--- a/motor.h
+++ b/motor.h
@@ -66,12 +66,15 @@ public:
#if CORE_MOCK
return 0;
#else
- return stepper.currentPosition();
+ return stepper.currentPosition() * (_forwardClockwise? 1: -1);
#endif
}
void moveToMm (float mm)
{
+ Serial.printf("# moving to %g mm / %g steps\n",
+ mm,
+ mmToStep(mm));
moveToStep(mmToStep(mm));
}
@@ -122,14 +125,11 @@ public:
Serial.printf("# %g mm/rev\n"
"# %d steps/rev\n"
"# %g steps/mm\n"
- "# position: %ld steps / %g mm\n"
"# max speed: %g steps/s %g mm/s\n"
"# accel: %g steps/s/s %g mm/s/s\n",
_mmPerRevolution,
_stepsPerRevolution,
_stepsPerRevolution / _mmPerRevolution,
- stepper.currentPosition(),
- stepToMm(stepper.currentPosition()),
stepper.maxSpeed(),
stepToMm(stepper.maxSpeed()),
stepper.acceleration(),
diff --git a/pousseseringue-arduino.cpp b/pousseseringue-arduino.cpp
index 05cef8d..80e72ba 100644
--- a/pousseseringue-arduino.cpp
+++ b/pousseseringue-arduino.cpp
@@ -7,8 +7,12 @@
#undef STAPSK
#ifndef STASSID
-#define STASSID ""
-#define STAPSK "WifiLAAS2022" // this password is wrong
+#define STASSID "laas-capture"
+#define STAPSK ""
+#endif
+
+#ifndef ARDUINO_ESP8266_ADAFRUIT_HUZZAH
+#error select board Adafruit Feather HUZZAH ESP8266
#endif
#define NAME "PousseSeringue"
@@ -284,13 +288,16 @@ void setup()
uint8_t mac[6];
WiFi.macAddress(mac);
sprintf(ssid, NAME "-%02x%02x%02x", mac[3], mac[4], mac[5]);
+#if 0
if (strlen(STASSID) > 0)
{
- WiFi.mode(WIFI_AP_STA);
- WiFi.softAP(ssid);
- WiFi.begin(STASSID, STAPSK);
+ WiFi.setPhyMode(WIFI_PHY_MODE_11G);
+ WiFi.mode(WIFI_STA);
+ //WiFi.softAP(ssid);
WiFi.hostname(ssid);
+ WiFi.begin(STASSID, STAPSK);
}
+#endif
// redirect everything to my AP ip:
dnsServer.setErrorReplyCode(DNSReplyCode::NoError);
@@ -375,6 +382,6 @@ void loop()
}
console.loop(Serial);
- webLoop();
- dnsServer.processNextRequest(); // access-point redirection
+ //webLoop();
+ //dnsServer.processNextRequest(); // access-point redirection
}
diff --git a/syringe.cpp b/syringe.cpp
index b681e47..00993f4 100644
--- a/syringe.cpp
+++ b/syringe.cpp
@@ -5,13 +5,17 @@
void Syringe::showConfiguration (const Syringe_configuration_t& conf)
{
Motor::showConfiguration();
+
+ auto step = whereStep();
+
Serial.printf("# diameter: %g mm\n"
"# capacity: %g uL\n"
"# rate: %g uL/s = %g mm/s\n"
- "# volume: %g uL\n"
+ "# volume: %g uL (target)\n"
"# direction: %s\n"
"# zeroing: %d\n"
- "# emergency: %d\n",
+ "# emergency: %d\n"
+ "# current position: %g mm %g ul %d steps\n",
conf.diameter_mm,
conf.capacity_ul,
conf.rate_ul_per_s,
@@ -19,7 +23,8 @@ void Syringe::showConfiguration (const Syringe_configuration_t& conf)
conf.volume_value * conf.volume_unit_ul,
conf.direction > 0? "infuse": "withdraw",
conf.findZero,
- emergency());
+ emergency(),
+ stepToMm(step), mmToMm3(stepToMm(step)), step);
}
float Syringe::confToMm3 () const
@@ -27,14 +32,19 @@ float Syringe::confToMm3 () const
return current_configuration.direction * current_configuration.volume_value * current_configuration.volume_unit_ul;
}
+float Syringe::sectionMm2 () const
+{
+ return pow(current_configuration.diameter_mm / 2, 2) * M_PI;
+}
+
float Syringe::mm3ToMm (float mm3) const
{
- return mm3 / (pow(current_configuration.diameter_mm / 2, 2) * M_PI);
+ return mm3 / sectionMm2();
}
float Syringe::mmToMm3 (float mm) const
{
- return mm * (pow(current_configuration.diameter_mm / 2, 2) * M_PI);
+ return mm * sectionMm2();
}
float Syringe::confToMm () const
@@ -126,7 +136,7 @@ void Syringe::manageEmergency (bool pressed, bool stepperMoving)
current_configuration.findZero = false;
setEmergency(false);
resetPosition();
- Serial.printf("EMERGENCY: danger faded away\n");
+ Serial.printf("ZERO: reset\n");
}
else
{
diff --git a/syringe.h b/syringe.h
index b39c03c..ce31982 100644
--- a/syringe.h
+++ b/syringe.h
@@ -59,6 +59,7 @@ public:
float mmToMm3 (float mm) const;
float confToMm () const;
float confToMm3 () const;
+ float sectionMm2 () const;
// Actions
--
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