From 4df6403e1aefd928547859b50687d657ec7c19b2 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Martin=20V=C3=ADtek?= <fotomartinkv@gmail.com>
Date: Sun, 11 Sep 2016 14:04:19 +0200
Subject: [PATCH] Fixes of badly designed current measuring
- removed waiting_for_current_reversation()
- add double check of closing current
---
SW/Controller.cpp | 29 ++++++++++++++---------------
SW/Controller.h | 1 +
2 files changed, 15 insertions(+), 15 deletions(-)
diff --git a/SW/Controller.cpp b/SW/Controller.cpp
index cab8e8e..3741e4f 100644
--- a/SW/Controller.cpp
+++ b/SW/Controller.cpp
@@ -29,7 +29,8 @@ static usart_regs uart_regs
Controller::Controller(): servo(&DDRB, PB1, &OCR1A, blue_servo_data),
adc(),
- uart(uart_regs)
+ uart(uart_regs),
+ count(0)
{
//Servo ini
TCCR1A |= (1<<COM1A1) | (1<<COM1B1) | (1<<WGM11); //Fast PWM non-inverted
@@ -85,9 +86,6 @@ void Controller::gate_handler()
case WAITING_FOR_CLOSING_CURRENT: waiting_for_closing_current();
break;
- case WAITING_FOR_CURRENT_REVERSATION: waiting_for_current_reversation();
- break;
-
case WAITING_FOR_CURRENT_DROP: waiting_for_current_drop();
break;
@@ -120,16 +118,20 @@ void Controller::waiting_for_closing_current()
{
if ((current_negative > ON_TRESHOLD) && (current_negative < 1020))
{
- gate_mode = WAITING_FOR_CURRENT_DROP;
+ if (!count)
+ {
+ count++;
+ return;
+ }
+
+ else
+ {
+ count = 0;
+ gate_mode = WAITING_FOR_CURRENT_DROP;
+ }
}
-}
-void Controller::waiting_for_current_reversation()
-{
- if (current_positive > ON_TRESHOLD)
- {
- gate_mode = WAITING_FOR_CURRENT_DROP;
- }
+ else count = 0;
}
void Controller::waiting_for_current_drop()
@@ -176,9 +178,6 @@ void Controller::print_debug()
case WAITING_FOR_CLOSING_CURRENT: uart.transmit_string("Waiting for closing current");
break;
- case WAITING_FOR_CURRENT_REVERSATION: uart.transmit_string("Waiting for current reversation");
- break;
-
case WAITING_FOR_CURRENT_DROP: uart.transmit_string("Waiting for current drop");
break;
diff --git a/SW/Controller.h b/SW/Controller.h
index 7bda471..5c7515b 100644
--- a/SW/Controller.h
+++ b/SW/Controller.h
@@ -53,6 +53,7 @@ class Controller
private:
volatile uint16_t samples[SAMPLES_COUNT];
volatile uint8_t samples_item;
+ uint8_t count;
public:
volatile uint16_t current_positive;
--
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