From bfc446d82caa7505bf7bf104d9db2a09a8548a7c Mon Sep 17 00:00:00 2001
From: Malaurie Bernard <mbernard@kinouby>
Date: Fri, 28 Jul 2023 11:15:04 +0200
Subject: [PATCH] Changing method move from syringe_filled to start_exchange to
make it easier to use (and more adapted to our need now.
---
syringefilled.cpp | 25 ++++++++-----------------
syringefilled.h | 2 +-
2 files changed, 9 insertions(+), 18 deletions(-)
diff --git a/syringefilled.cpp b/syringefilled.cpp
index f65ccfc..b278c73 100644
--- a/syringefilled.cpp
+++ b/syringefilled.cpp
@@ -166,7 +166,7 @@ bool SyringeFilled :: is_running () //return true if the motor is currently run
return motor_is_running();
}
-void SyringeFilled :: move()
+void SyringeFilled :: start_exchange()
/***
-Argument : / (We're using informations stored in the class itself)
-Return : /
@@ -174,7 +174,6 @@ void SyringeFilled :: move()
***/
{
//Conversions of volumes
- float remaining_volume_mm3 = get_remaining_volume_mL()*1000;
float exchange_volume_mm3 = get_exchange_volume_mL()*1000;
//Find the section
@@ -184,24 +183,16 @@ void SyringeFilled :: move()
set_speed_mm_per_sec(get_exchange_throughput_uL_per_sec()/section_mm2);
-
- if (where_step() == 0) //If we are putting the syringe for the first time
+
+ if (get_push()) //If we want to deliver some liquid
{
- move_to_mm_limit_switch(get_syringe_pump_length_mm() - remaining_volume_mm3/section_mm2);
+ move_mm_limit_switch(exchange_volume_mm3/section_mm2);
}
- else
+ else //If we want to recover some liquid
{
- float initial_position_mm = get_syringe_pump_length_mm() - remaining_volume_mm3/section_mm2;
-
- if (get_push()) //If we want to deliver some liquid
- {
- move_to_mm_limit_switch(initial_position_mm + exchange_volume_mm3/section_mm2);
- }
- else //If we want to recover some liquid
- {
- move_to_mm_limit_switch(initial_position_mm - exchange_volume_mm3/section_mm2);
- }
- }
+ move_to_mm_limit_switch(exchange_volume_mm3/section_mm2);
+ }
+
}
diff --git a/syringefilled.h b/syringefilled.h
index 4a5e224..e559d63 100644
--- a/syringefilled.h
+++ b/syringefilled.h
@@ -83,7 +83,7 @@ class SyringeFilled : public Motor
//MOVEMENTS
bool is_running ();
- void move();
+ void start_exchange();
void go_to_zero(); //CLI
//LIMIT SWITCH
--
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