consolidate

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")))
         {

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(),

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
 }

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
     {

syringe.h

@@ -59,6 +59,7 @@ public:
     float mmToMm3 (float mm) const;
     float confToMm () const;
     float confToMm3 () const;
+    float sectionMm2 () const;
 
 	// Actions