From 72e6775ecc4297d8dbcf683f399f59afe8273a68 Mon Sep 17 00:00:00 2001
From: Malaurie Bernard <mbernard@kinouby>
Date: Tue, 27 Jun 2023 14:01:21 +0200
Subject: [PATCH] Code formatting.
---
motor.h | 2 +-
syringe.cpp | 20 ++++++++++----
syringe.h | 78 ++++++++++++++++++++++++++++++++---------------------
3 files changed, 63 insertions(+), 37 deletions(-)
diff --git a/motor.h b/motor.h
index caa4718..d26c081 100644
--- a/motor.h
+++ b/motor.h
@@ -159,7 +159,7 @@ public:
#if !CORE_MOCK
cli();
stepper.setAcceleration(1e20);
- stepper.moveTo(stepper.currentPosition()); // change target to here
+ stepper.moveTo(stepper.currentPosition()); // change target to here
setAccelMmPerSecPerSec(_retainAccel);
sei();
#endif
diff --git a/syringe.cpp b/syringe.cpp
index 805b2bf..f4cc08f 100644
--- a/syringe.cpp
+++ b/syringe.cpp
@@ -163,14 +163,24 @@ void Syringe::runFromEmergency (float mmPerSec, float maxCourseMm)
}
void Syringe::resetPosition ()
+/***
+-Argument : /
+-Return : /
+-Action : Changes the zero position as the current one
+***/
{
- //current_configuration.findZero = false;
- Motor::resetPosition();
+ //current_configuration.findZero = false;
+ Motor::resetPosition();
}
-void Syringe::manageEmergency (bool pressed, bool stepperMoving)
+void Syringe::manageEmergency (bool pressed, bool stepperMoving)/*************************************************************************************************/
+/***
+-Argument : two boolean to know the position of the limit switch and if the stepper is moving
+-Return : /
+-Action : Manage different emergency cases (move the pump if necessary)
+***/
{
- if (pressed)
+ if (pressed) //if the limit switch is pressed
{
setEmergency();
if (stepperMoving)
@@ -189,7 +199,7 @@ void Syringe::manageEmergency (bool pressed, bool stepperMoving)
// emergency button released
current_configuration.findZero = false;
setEmergency(false);
- resetPosition();
+ resetPosition(); //zero is here again
Serial.printf("ZERO: reset\n");
}
else
diff --git a/syringe.h b/syringe.h
index 97c6e6c..3f67dc1 100644
--- a/syringe.h
+++ b/syringe.h
@@ -30,79 +30,95 @@ private:
public:
- Syringe (MotorHardware_t& stepper): Motor(stepper)
+ Syringe (MotorHardware_t& stepper): Motor(stepper)/*********************************************************************************************************/
{
}
- void setPhysical (int stepsPerRevolution, float mmPerRevolution, bool forwardClockwise, bool emergencySensorBehind)
+ void setPhysical (int stepsPerRevolution, float mmPerRevolution, bool forwardClockwise, bool emergencySensorBehind)/*******************************************/
{
Motor::setPhysical(stepsPerRevolution, mmPerRevolution, forwardClockwise);
_emergencySensorBehind = emergencySensorBehind;
}
+ /***CONFIGURATION***/
void showConfiguration (const Syringe_configuration_t& conf);
+ const Syringe_configuration_t& configuration () const { return current_configuration; }; /**********************************************************************/
+ bool infusing () { return current_configuration.direction == 1; }
+ bool configureSyringe(const Syringe_configuration_t& config);
+ void setInitialContent(float initial_volume);
+ void setPushClockwise (bool clockwise) { setForwardClockwise(clockwise); }
+ bool getPushClockwise () { return getForwardClockwise(); }
- void setEmergency (bool emergency = true) { _emergency = emergency; }
- bool emergency () const { return _emergency; }
+ /***EMERGENCY***/ /*(=limit switch management)*/
+ void setEmergency (bool emergency = true) { _emergency = emergency; }/***************************************************************************************************/
+ bool emergency () const { return _emergency; }/**********************************************************************************************************************/
- void resetPosition();
- void findZero (float mmPerSec = -1, float maxCourseMm = 200);
void manageEmergency (bool pressed, bool stepperMoving);
void runFromEmergency (float mmPerSec = 0.1, float maxCourseMm = 10);
- const Syringe_configuration_t& configuration () const { return current_configuration; };
- bool infusing () { return current_configuration.direction == 1; }
+ /***POSITION***/
+ void resetPosition();
+ void findZero (float mmPerSec = -1, float maxCourseMm = 200); //Provoque le déplacement jusqu'au capteur
+
- // Configuration
+ float currentPosition ();
- bool configureSyringe(const Syringe_configuration_t& config);
- void setInitialContent(float initial_volume);
- void setPushClockwise (bool clockwise) { setForwardClockwise(clockwise); }
- bool getPushClockwise () { return getForwardClockwise(); }
+ void updateValue ();
+ bool isRunning ();
+
+ /***CONVERSIONS***/
float mm3ToMm (float mm3) const;
float mmToMm3 (float mm) const;
float confToMm () const;
float confToMm3 () const;
float sectionMm2 () const;
- // Actions
-
- void fill ();
+ /***ACTIONS***/
+ void fill (); //lance le déplacement du pousse-seringue a partir des spécifications de la configuration
#if 0
- void push(float volume, float throughput); // Volume in mL, throughput in µL/min
- void pushAll(float throughput); // Throughput in µL/min
- void pushFor(float duration, float throughput); // Duration in min, throughput in µL/min
- void pushVol(float volume, float duration); // Volume in mL, duration in min
-
- void pull(float volume, float throughput); // Volume in mL, throughput in µL/min
- void pullAll(float throughput); // Throughput in µL/min
- void pullFor(float duration, float throughput); // Duration in min, throughput in µL/min
- void pullVol(float volume, float duration); // Volume in mL, duration in min
+ void push(float volume, float throughput);
+ void pushAll(float throughput);
+ void pushFor(float duration, float throughput);
+ void pushVol(float volume, float duration);
+
+ void pull(float volume, float throughput);
+ void pullAll(float throughput);
+ void pullFor(float duration, float throughput);
+ void pullVol(float volume, float duration);
#endif
-private:
+/************** ATTRIBUTS **************/
+
+private:
+ /***CONFIGURATION***/
Syringe_configuration_t current_configuration =
{
.diameter_mm = 10,
.capacity_ul = 1000,
- .rate_ul_per_s = 100,
+ .rate_ul_per_s = 100, //a enlever d'iciy
.volume_value = 50,
.volume_unit_ul = 1,
- .direction = 1,
- .findZero = false,
+ .direction = 1, // 1 = push, -1 = pull
+ .findZero = false,
};
+
+ bool is_configured = false;
+ /***EMERGENCY***/
bool _emergency = false;
- bool _emergencySensorBehind;
- bool is_configured = false;
+
+ /***INITIALISATION***/
float remaining_volume = 0;
float piston_surface = 0;
+
+
+
};
extern Syringe syringe;
--
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