wip

makers-for-life · Mar 28, 2024 · 7888eb5 · 7888eb5
1 parent 253b6a8
commit 7888eb5
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Showing 7 changed files with 17 additions and 9 deletions.
diff --git a/flash.sh b/flash.sh
diff --git a/scripts/compile_and_dfu_hardware_v3.sh b/scripts/compile_and_dfu_hardware_v3.sh
diff --git a/scripts/compile_and_flash.sh b/scripts/compile_and_flash.sh
diff --git a/scripts/compile_only.sh b/scripts/compile_only.sh
diff --git a/srcs/pc_cmv_controller.cpp b/srcs/pc_cmv_controller.cpp
@@ -109,14 +109,13 @@ void PC_CMV_Controller::inhale() {
 
 void PC_CMV_Controller::exhale() {
     // Close the inspiratory valve
-    inspiratoryValve.open(VALVE_CLOSED_STATE-PCexpiratoryPID(mainController.pressureCommand(),
+    inspiratoryValve.open(-PCexpiratoryPID(mainController.pressureCommand(),
                                          mainController.pressure(), mainController.dt()));
 
     // Open the expiratos valve so the patient can exhale outside
     // expiratoryValve.open(PCexpiratoryPID(mainController.pressureCommand(),
     //                                      mainController.pressure(), mainController.dt()));
 }
-
 void PC_CMV_Controller::endCycle() { calculateBlowerIncrement(); }
 
 void PC_CMV_Controller::calculateBlowerIncrement() {

diff --git a/srcs/pressure_valve.cpp b/srcs/pressure_valve.cpp
@@ -17,9 +17,9 @@
 
 // Internal libraries
 #include "../includes/parameters.h"
+#include "Arduino.h"
 
 // INITIALISATION =============================================================
-
 PressureValve expiratoryValve;
 PressureValve inspiratoryValve;
 
@@ -145,21 +145,30 @@ void PressureValve::openSection(int32_t p_sectionMultiplyBy100) {
 }
 
 void PressureValve::execute() {
+
+    // Position milieu - les deux vannes sont ouvertes
+    int Pos_dxl_valve_open = 2048 ;
+    // Position vanne expiratoire fermée 
+    int Pos_dxl_exp_valve_closed = 2300;
+    // Position vanne insipratoire fermée
+    int Pos_dxl_insp_valve_closed = 1800;
+
     // On évite d'aller plus loin que les limites de la valve
-    if (command < minApertureAngle) {
-        command = minApertureAngle;
-    } else if (command > maxApertureAngle) {
+    if (command > maxApertureAngle) {
         command = maxApertureAngle;
-    } else {
+    }
+    else {
     }
 
     if (command != position) {
         //Serial.println((4095*(position-maxApertureAngle))/(maxApertureAngle-minApertureAngle));
-        dxl_Position((4095*(position-minApertureAngle))/(maxApertureAngle-minApertureAngle));
+        dxl_Position(Pos_dxl_valve_open+((Pos_dxl_exp_valve_closed-Pos_dxl_valve_open)*position/maxApertureAngle));
         position = command;
     }
 }
 
+
+
 void PressureValve::open() { command = openApertureAngle; }
 
 void PressureValve::close() { command = closeApertureAngle; }

diff --git a/srcs/srcs.ino b/srcs/srcs.ino
@@ -44,7 +44,7 @@
 HardwareTimer* hardwareTimer1;  // ESC command
 HardwareTimer* hardwareTimer3;  // valves command
 
-HardwareSerial Serial6(PIN_TELEMETRY_SERIAL_RX, PIN_TELEMETRY_SERIAL_TX);
+HardwareSerial Serial6(PIN_TELEMETRY_SERIAL_RX, PIN_TELEMETRY_SERIAL_TX); 
 HardwareSerial Serial7(PC6);
 
 void setup(void) {