Let's do this

1 files changed, 200 insertions, 0 deletions

diff --git a/Arduino/ems/Pump.h b/Arduino/ems/Pump.h
new file mode 100755
index 0000000..c8293dd
--- /dev/null
+++ b/Arduino/ems/Pump.h
@@ -0,0 +1,200 @@
+/*************************************
+ * Pump.h - Manage the hydraulic pump.
+ */
+#ifndef PUMP_H
+#define PUMP_H
+
+#include "Common.h"
+#include "TaskScheduler.h"
+#include "Monitor.h"
+#include "Machine.h"
+#include "Clock.h"
+
+// move to common
+#define PUMP_ON HIGH
+#define PUMP_OFF LOW
+#define MAX_PUMP_RUN_SECONDS 5
+#define GOING_UP LOW
+#define GOING_DOWN HIGH
+#define SOLENOID_OFF LOW
+
+static void runThePump();
+static void readPumpPressure();
+
+static void PMS (uint8_t kwIndex, uint8_t verb,char *args);
+static void MUP (uint8_t kwIndex, uint8_t verb,char *args);
+static void MDN (uint8_t kwIndex, uint8_t verb,char *args);
+
+static void PS1 (uint8_t kwIndex, uint8_t verb,char *args);
+static void SOL (uint8_t kwIndex, uint8_t verb,char *args);
+
+class Pump {
+private:
+    Task checkPressure;
+    Task runPump;
+    bool wereWeGoingDown;
+    bool wasTheMotorOn;
+    long int startedAt;
+    bool motorOn;
+    bool goingDown;
+public:
+    int pressure;
+    bool pressureChanged;
+    
+    void motor(bool state) {
+
+        motorOn=state;
+        
+        if((motorOn==PUMP_ON) && (wasTheMotorOn==PUMP_OFF))
+        {
+            startedAt=clock.second();
+            
+        }
+        digitalWrite(PUMP_PIN, motorOn?PUMP_ON:PUMP_OFF);
+        if (motorOn != wasTheMotorOn) {
+            monitor.update("PMS", "%d", motorOn);
+        }
+        wasTheMotorOn=motorOn;
+    }
+    
+    bool isMotorOn() {return motorOn;}
+    
+    bool areWeGoingDown() {return goingDown;}
+    
+    
+    void solenoid(bool state) {
+        goingDown=state;
+        digitalWrite(SOLENOID_PIN, goingDown?GOING_DOWN:GOING_UP);
+        if (goingDown != wereWeGoingDown) {
+            monitor.update("SOL", "%d", goingDown);
+        }
+        goingDown = wereWeGoingDown;
+        
+        
+    }
+    
+    void init() {
+        
+
+        pinMode(PUMP_PIN, OUTPUT);
+        digitalWrite(PUMP_PIN, PUMP_OFF);
+        pinMode(SOLENOID_PIN, OUTPUT);
+        digitalWrite(SOLENOID_PIN, GOING_UP);
+        StopPump();
+        // register monitor commands
+        monitor.registerAction(_PMS_, &PMS);
+        monitor.registerAction(_PS1_, &PS1);
+        monitor.registerAction(_SOL_, &SOL);
+        monitor.registerAction(_MUP_, &MUP);
+        monitor.registerAction(_MDN_, &MDN);
+        
+        checkPressure.set(100L, TASK_FOREVER, &readPumpPressure);
+        machine.todolist.addTask(checkPressure);
+        checkPressure.enable();
+        
+        runPump.set(100L, TASK_FOREVER, &runThePump);
+        machine.todolist.addTask(runPump);
+        runPump.enable();
+        
+    }
+    
+    void Press() {
+        solenoid(GOING_UP);
+        motor(PUMP_ON);
+        CheckPump(); // ??
+    }
+    
+    void Release() {
+        solenoid(GOING_DOWN);
+        motor(PUMP_ON);
+        CheckPump();
+        
+    }
+    
+    void CheckPump() {
+        if((motorOn) && ((clock.second()-startedAt) > MAX_PUMP_RUN_SECONDS)){
+                monitor.debug("Motor run timed out");
+            motor(PUMP_OFF);
+        }
+        
+        // check here for the home switch.
+        
+    }
+    
+    void StopPump()  {
+        motor(PUMP_OFF);
+        solenoid(SOLENOID_OFF);
+    }
+    
+// 'accessors'
+    bool updatePressure() {
+        int tol = 50; // number foo bad move to macro
+        
+        int thisReading = analogRead(PS1_APIN);
+        if (thisReading < 224) {
+            pressure=0;
+        } else {
+            pressure=(thisReading-200)*10;
+        }
+        pressureChanged = abs(pressure - pressure) >= tol;
+        if (pressureChanged)
+            pressure = pressure;
+        return pressureChanged;
+    }
+    
+    void setPressureChanged(bool v) {
+        pressureChanged = v;
+    }
+};
+
+
+Pump pump;
+
+static void runThePump() {
+    pump.CheckPump();
+}
+
+static void readPumpPressure() {
+    if (pump.updatePressure()) {
+        monitor.update("PS1", "%d", pump.pressure);
+        pump.setPressureChanged(false);
+    }
+}
+
+// should also take on as a value
+
+static void PMS (uint8_t kwIndex, uint8_t verb,char *args) {
+    if (verb == '!') {
+        pump.motor((bool) atoi(args));
+    } else {
+        monitor.update("PMS", "%d", pump.isMotorOn());
+    }
+}
+
+// should also take on as a value
+static void SOL (uint8_t kwIndex, uint8_t verb,char *args) {
+    if (verb == '!') {
+        pump.solenoid((bool)atoi(args));
+    } else {
+        monitor.update("SOL", "%d", pump.areWeGoingDown());
+    }
+}
+
+static void MUP (uint8_t kwIndex, uint8_t verb,char *args) {
+    monitor.update("ACK","Going up");
+    pump.Press();
+}
+
+static void MDN (uint8_t kwIndex, uint8_t verb,char *args) {
+    monitor.update("ACK", "Going down");
+    pump.Release();
+}
+
+
+static void PS1 (uint8_t kwIndex, uint8_t verb,char *args) {
+    monitor.update("PS1", "%d", pump.pressure);
+}
+
+
+#endif // PUMP_H
+