Merge branch 'syringe_2' into 'master'

Add initial volume and volume/duration control.

See merge request fablaas/pousseseringue/pousseseringue-arduino!11

syringe.cpp

@@ -27,6 +27,43 @@ void Syringe::configureSyringe(Syringe_configuration_t config)
 	this->is_configured = true;
 }
 
+void Syringe::setInitialContent(float initial_volume)
+{
+	this->remaining_volume = initial_volume;
+}
+
+void Syringe::moveMotor(bool direction, float duration, float speed)
+{
+	float quantity = speed*this->piston_surface*duration;
+	if (direction == true)
+	{
+		if (quantity <= this->remaining_volume)
+		{
+			this->remaining_volume -= quantity;
+		}
+		else
+		{
+			quantity = this->remaining_volume;
+			this->remaining_volume = 0;
+		}
+	}
+	else
+	{
+		if (this->remaining_volume + quantity <= this->current_configuration.capacity)
+		{
+			this->remaining_volume += quantity;
+		}
+		else
+		{
+			quantity = this->current_configuration.capacity - this->remaining_volume;
+			this->remaining_volume = this->current_configuration.capacity;
+		}
+	}
+
+	// TODO: recompute duration to match quantity before sending commande to motor
+	motor.turn(direction, duration, speed);
+}
+
 void Syringe::reset()
 {
 	// TODO: go back to home. At which speed?
@@ -63,7 +100,17 @@ void Syringe::pushFor(float duration, float throughput)
 	float distance = this->volumeToDistance(volume);
 	float speed = distance/duration;
 
-	motor.turn(true, duration, speed);
+	this->moveMotor(true, duration, speed);
+}
+
+void Syringe::pushVol(float volume, float duration)
+{
+	// Ensure syringe is configured before using it
+	if (this->is_configured == false)
+		return;
+
+	float throughput = volume/duration;
+	this->push(volume, throughput);
 }
 
 void Syringe::pull(float volume, float throughput)
@@ -95,5 +142,15 @@ void Syringe::pullFor(float duration, float throughput)
 	float distance = this->volumeToDistance(volume);
 	float speed = distance/duration;
 
-	motor.turn(false, duration, speed);
+	this->moveMotor(false, duration, speed);
+}
+
+void Syringe::pullVol(float volume, float duration)
+{
+	// Ensure syringe is configured before using it
+	if (this->is_configured == false)
+		return;
+
+	float throughput = volume/duration;
+	this->pull(volume, throughput);
 }

syringe.h

@@ -16,10 +16,12 @@ public:
 
 private:
 	float volumeToDistance(float volume);
+	void moveMotor(bool direction, float duration, float speed);
 
 public:
 	// Configuration
 	void configureSyringe(Syringe_configuration_t config);
+	void setInitialContent(float initial_volume);
 
 	// Actions
 	void reset();
@@ -27,14 +29,17 @@ public:
 	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
 
 private:
 	Syringe_configuration_t current_configuration = {0};
 	bool is_configured = false;
+	float remaining_volume = 0;
 	float piston_surface = 0;
 };