FlowController.cpp

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#include <Arduino.h>
#include "FlowController.h"
#include "Controller.h"
 
FlowController::FlowController(const FlowSensor *fs, const ConfigStore *cs, uint8_t solenoidPin, uint8_t pwmRes)
        : Controller(cs, cs->FC_Kp, cs->FC_Ki, cs->FC_Kd, cs->FC_Kf, cs->FC_dt, cs->S_lowValue, 1, 0, cs->S_lowValue),
          fs(*fs), solenoidPin(solenoidPin), pwmRes(pwmRes) {}
 
void FlowController::update() {
    if (millis() - sensorLastRead < cs.FC_dt)
        return;
    sensorLastRead = millis();
 
    pid.setAuto(active);
 
    // Read flowrate (and update PV if not NaN)
    double flowrate = fs.readFlowrate();
    if (!isnan(flowrate))
        pv = flowrate;
 
    // Run PID cycle if active
    pid.compute();
 
    // Actuate solenoid (convert normalised double CV to integer PWM value)
    analogWrite(solenoidPin, static_cast<int>(cv * ipow(2, pwmRes)));
}
 
void FlowController::updatePIDParameters() {
    pid.setGains(cs.FC_Kp, cs.FC_Ki, cs.FC_Kd, cs.FC_Kf, cs.dt);
    pid.cvMin = cs.S_lowValue;
}