diff --git a/cli.cpp b/cli.cpp
index 968e3c890c6329a390f07ae955cba205805da7d5..1a3d45fb424e26da08eef7237a9acf1a69cb16dd 100644
--- a/cli.cpp
+++ b/cli.cpp
@@ -76,18 +76,20 @@ void Cli::syntax (const char* cmd)
{
if (!cmd || kw(F("AT"), cmd)) Serial.printf("%sAT -> OK\n", _msgHeader.c_str());
if (!cmd || kw(F("HELP"), cmd)) Serial.printf("%sHELP [CMD]\n", _msgHeader.c_str());
- if (!cmd || kw(F("RAT"), cmd)) Serial.printf("%sRAT [ C <rate> <unit> ] - set or show rate (UM/MM/UH/MH)\n", _msgHeader.c_str());
- if (!cmd || kw(F("VOL"), cmd)) Serial.printf("%sVOL [ <vol> | <unit> ] - set volume or unit (UL / ML)\n", _msgHeader.c_str());
- if (!cmd || kw(F("MM"), cmd)) Serial.printf("%sMM [ <len> ] - set distance (mm)\n", _msgHeader.c_str());
- if (!cmd || kw(F("DIA"), cmd)) Serial.printf("%sDIA [ <dia> ] - set or show inside syringe diameter (in mm)\n", _msgHeader.c_str());
- if (!cmd || kw(F("DIR"), cmd)) Serial.printf("%sDIR [ INF | WDR ] - set or show direction (INFuse / WithDRaw)\n", _msgHeader.c_str());
- if (!cmd || kw(F("FIL"), cmd)) Serial.printf("%sFIL - start filling using direction at rate for volume\n", _msgHeader.c_str());
- if (!cmd || kw(F("STP"), cmd)) Serial.printf("%sSTP - stop\n", _msgHeader.c_str());
- if (!cmd || kw(F("DIS"), cmd)) Serial.printf("%sDIS - show volume dispensed\n", _msgHeader.c_str());
- if (!cmd || kw(F("ZERO"), cmd)) Serial.printf("%sZERO - go to stopper\n", _msgHeader.c_str());
- if (!cmd || kw(F("SET0"), cmd)) Serial.printf("%sSET0 - change ZERO to current position\n", _msgHeader.c_str());
- if (!cmd || kw(F("NLCK"), cmd)) Serial.printf("%sNLCK - try to get out from stopper\n", _msgHeader.c_str());
- if (!cmd || kw(F("CONF"), cmd)) Serial.printf("%sCONF - show configuration\n", _msgHeader.c_str());
+ if (!cmd || kw(F("RAT"), cmd)) Serial.printf("%sRAT [ C <rate> [<unit>] ] - set or show rate ([UM]/MM/UH/MH)\n", _msgHeader.c_str());
+ if (!cmd || kw(F("VOL"), cmd)) Serial.printf("%sVOL [ <vol> | <unit> ] - set volume or unit (UL / ML)\n", _msgHeader.c_str());
+ if (!cmd || kw(F("MM"), cmd)) Serial.printf("%sMM [ <len> ] - set distance (mm)\n", _msgHeader.c_str());
+ if (!cmd || kw(F("DIA"), cmd)) Serial.printf("%sDIA [ <dia> ] - set or show inside syringe diameter (in mm)\n", _msgHeader.c_str());
+ if (!cmd || kw(F("ACC"), cmd)) Serial.printf("%sACC [ <mm/s/s> ] - set or show acceletaration (mm/s/s) (0<=>oo)\n", _msgHeader.c_str());
+ if (!cmd || kw(F("RVM"), cmd)) Serial.printf("%sRVM [ <M4|M5> ] - set or show auger size\n", _msgHeader.c_str());
+ if (!cmd || kw(F("DIR"), cmd)) Serial.printf("%sDIR [ INF | WDR ] - set or show direction (INFuse / WithDRaw)\n", _msgHeader.c_str());
+ if (!cmd || kw(F("FIL"), cmd)) Serial.printf("%sFIL - start filling using direction at rate for volume\n", _msgHeader.c_str());
+ if (!cmd || kw(F("STP"), cmd)) Serial.printf("%sSTP - stop\n", _msgHeader.c_str());
+ if (!cmd || kw(F("DIS"), cmd)) Serial.printf("%sDIS - show volume dispensed\n", _msgHeader.c_str());
+ if (!cmd || kw(F("ZERO"), cmd)) Serial.printf("%sZERO - go to stopper\n", _msgHeader.c_str());
+ if (!cmd || kw(F("SET0"), cmd)) Serial.printf("%sSET0 - change ZERO to current position\n", _msgHeader.c_str());
+ if (!cmd || kw(F("NLCK"), cmd)) Serial.printf("%sNLCK - try to get out from stopper\n", _msgHeader.c_str());
+ if (!cmd || kw(F("CONF"), cmd)) Serial.printf("%sCONF - show configuration\n", _msgHeader.c_str());
}
void Cli::answer (bool ok, const String& error_message) const
@@ -101,7 +103,7 @@ void Cli::answer (bool ok, const String& error_message) const
void Cli::checkEmergency ()
{
if (syringe.emergency())
- Serial.printf("%s: in EMERGENCY state, try NLCK command\n", _msgHeader.c_str());
+ Serial.printf("%sin EMERGENCY state, try NLCK command\n", _msgHeader.c_str());
}
void Cli::loop (Stream& input)
@@ -145,19 +147,19 @@ void Cli::loop (Stream& input)
conf.rate_ul_per_s = atof(_temp.c_str());
copyNextToTemp();
if (_temp.length() == 0)
- conf.rate_ul_per_s *= 60; // default uL/mn
+ conf.rate_ul_per_s /= 60; // default uL/mn
else if (_temp.equalsIgnoreCase(F("us")))
- conf.rate_ul_per_s *= 1;
+ conf.rate_ul_per_s /= 1;
else if (_temp.equalsIgnoreCase(F("ms")))
conf.rate_ul_per_s *= 1000;
else if (_temp.equalsIgnoreCase(F("um")))
- conf.rate_ul_per_s *= 60;
+ conf.rate_ul_per_s /= 60;
else if (_temp.equalsIgnoreCase(F("mm")))
- conf.rate_ul_per_s *= 1000 * 60.0;
+ conf.rate_ul_per_s *= 1000 / 60.0;
else if (_temp.equalsIgnoreCase(F("uh")))
- conf.rate_ul_per_s *= 3600;
+ conf.rate_ul_per_s /= 3600;
else if (_temp.equalsIgnoreCase(F("mh")))
- conf.rate_ul_per_s *= 1000 * 3600.0;
+ conf.rate_ul_per_s *= 1000 / 3600.0;
else
conf.rate_ul_per_s = -1;
answer(syringe.configureSyringe(conf), F("invalid 'RAT C rate [unit]'"));
@@ -166,7 +168,7 @@ void Cli::loop (Stream& input)
answer(false, F("RAT must be followed by C"));
Serial.printf("%sRAT: %g ul/mn\n", _msgHeader.c_str(),
- syringe.configuration().rate_ul_per_s / 60);
+ syringe.configuration().rate_ul_per_s * 60);
}
else if (kw(F("VOL")))
@@ -215,6 +217,24 @@ void Cli::loop (Stream& input)
}
Serial.printf("%sDIA: %g mm\n", _msgHeader.c_str(), syringe.configuration().diameter_mm);
}
+ else if (kw(F("RVM")))
+ {
+ copyNextToTemp();
+ if (_temp == F("M4"))
+ syringe.setMmPerRev(M4_MMREV);
+ else if (_temp == F("M5"))
+ syringe.setMmPerRev(M5_MMREV);
+ else if (_temp.length() > 0)
+ answer(false, F("invalid auger size: M4 or M5 are accepted"));
+ Serial.printf("%sRVM: %g mm per revolution\n", _msgHeader.c_str(), syringe.getMmPerRev());
+ }
+ else if (kw(F("ACC")))
+ {
+ copyNextToTemp();
+ if (_temp.length())
+ syringe.setAccelMmPerSecPerSec(atof(_temp.c_str()));
+ Serial.printf("%sACC: %g mm per second per second\n", _msgHeader.c_str(), syringe.getAccelMmPerSecPerSec());
+ }
else if (kw(F("DIR")))
{
copyNextToTemp();
diff --git a/motor.h b/motor.h
index 755db7eb9ec73cab0c323ce2d8cdd19877281bbd..50b04fbde47471c96fc7f96f538348b31c73a741 100644
--- a/motor.h
+++ b/motor.h
@@ -22,22 +22,33 @@ public:
Motor (AccelStepper& stepper): stepper(stepper)
{
setSpeedMmPerSec(1);
- setAccelMmPerSecPerSec(0.1); // <----- this is not yet configured by user
+ setAccelMmPerSecPerSec(0.5); // <----- this is not yet configured by user
}
void setLock (bool locked) { _locked = locked; }
bool locked () const { return _locked; }
+ void setMmPerRev (float mmPerRevolution)
+ {
+ _mmPerRevolution = mmPerRevolution;
+ }
+
+ float getMmPerRev () const
+ {
+ return _mmPerRevolution;
+ }
+
void setPhysical (int stepsPerRevolution, float mmPerRevolution, bool forwardClockwise)
{
_stepsPerRevolution = stepsPerRevolution;
- _mmPerRevolution = mmPerRevolution;
+ setMmPerRev(mmPerRevolution);
_forwardClockwise = forwardClockwise;
}
void setSpeedMmPerSec (float mmPerSec)
{
+ Serial.printf("# set speed to %g steps/s\n", mmToStep(mmPerSec));
#if !CORE_MOCK
stepper.setMaxSpeed(mmToStep(mmPerSec));
#endif
@@ -45,12 +56,19 @@ public:
void setAccelMmPerSecPerSec (float mmPerSecPerSec)
{
+ if (mmPerSecPerSec == 0)
+ mmPerSecPerSec = 1000;
_retainAccel = mmPerSecPerSec;
#if !CORE_MOCK
stepper.setAcceleration(mmToStep(mmPerSecPerSec));
#endif
}
+ float getAccelMmPerSecPerSec () const
+ {
+ return _retainAccel;
+ }
+
float mmToStep (float mm) const
{
return mm * _stepsPerRevolution / _mmPerRevolution;
diff --git a/syringe.cpp b/syringe.cpp
index 00993f4965716f7c7f35b9f1ac491095cf9ef52a..173bca925640d443d10d1995c46b03acf2a0e239 100644
--- a/syringe.cpp
+++ b/syringe.cpp
@@ -54,6 +54,7 @@ float Syringe::confToMm () const
void Syringe::fill ()
{
+ Serial.printf("# set speed to %g mm/s\n", mm3ToMm(current_configuration.rate_ul_per_s));
setSpeedMmPerSec(mm3ToMm(current_configuration.rate_ul_per_s));
moveToMm(confToMm());
}
diff --git a/syringe.h b/syringe.h
index ce31982daeb4caafc6b1ef07cb985fcb84243d4f..315c6a9affc7e1fb519ee2a20ab0b540079f844d 100644
--- a/syringe.h
+++ b/syringe.h
@@ -83,7 +83,7 @@ private:
{
.diameter_mm = 10,
.capacity_ul = 1000,
- .rate_ul_per_s = 80,
+ .rate_ul_per_s = 100,
.volume_value = 50,
.volume_unit_ul = 1,
.direction = 1,