From df22fa29ab8f7291553b993fe6b2a6b7210b8345 Mon Sep 17 00:00:00 2001
From: =?utf8?q?Luk=C3=A1=C5=A1=20Ji=C5=99i=C5=A1t=C4=9B?=
 <jiriste@icpf.cas.cz>
Date: Tue, 5 Nov 2024 15:22:14 +0100
Subject: [PATCH] Add Valve class, change Makefile and Servomatic.ino

The main function needs to have init() before the declaration of first
Valve, because the Valve constructor needs the arduino initialized. One
cannot declare Valve before calling init().
Due to this and me liking variable declaration at the start of a
function, I've written the actual contents of main to a new function.
---
 Makefile       |  1 +
 Servomatic.ino | 21 +++++++++++++----
 Valve.h        | 31 ++++++++++++++++++++++++
 Valve.ino      | 64 ++++++++++++++++++++++++++++++++++++++++++++++++++
 4 files changed, 112 insertions(+), 5 deletions(-)
 create mode 100644 Valve.h
 create mode 100644 Valve.ino

diff --git a/Makefile b/Makefile
index 9adcd9e..3bf682c 100644
--- a/Makefile
+++ b/Makefile
@@ -14,6 +14,7 @@ endif
 
 SRCS :=	Servomatic.ino		\
 		PressureSensor.ino	\
+		Valve.ino			\
 
 
 NAME := Servomatic
diff --git a/Servomatic.ino b/Servomatic.ino
index 466b06a..f69b092 100644
--- a/Servomatic.ino
+++ b/Servomatic.ino
@@ -1,15 +1,26 @@
 #include "PressureSensor.h"
+#include "Valve.h"
 
 int	main()
 {
-	PressureSensor	test{A5};
-
 	init();
 	Serial.begin(9600);
+
+	main_loop();
+	return (0);
+}
+
+void	main_loop()
+{
+	PressureSensor	test{A5, 10};
+	Valve			test_valve{6, 760, 2400};
+	int				usec;
+
 	while (1)
 	{
-		Serial.println(test.get_pressure());
-		delay(500);
+		delay(5000);
+		test_valve.open(10);
+		delay(5000);
+		test_valve.close(100);
 	}
-	return (0);
 }
diff --git a/Valve.h b/Valve.h
new file mode 100644
index 0000000..ab4a915
--- /dev/null
+++ b/Valve.h
@@ -0,0 +1,31 @@
+#ifndef VALVE_H
+# define VALVE_H
+
+# include <Servo.h>
+
+class Valve
+{
+	private:
+		typedef int pin;
+
+		const Servo	m_servo;
+		const int	m_usec_opened;
+		const int	m_usec_closed;
+		int			m_usec_current;
+
+		void	write_usec_timed(int usec_wanted, float seconds);
+		void	update_pos();
+
+	public:
+		Valve() = delete;
+		Valve(const Valve &other) = delete;
+		Valve(pin pwm_pin, int usec_opened, int isec_closed);
+		~Valve();
+
+		Valve	&operator=(const Valve &other) = delete;
+
+		void	open(float seconds = 5);
+		void	close(float seconds = 5);
+};
+
+#endif // VALVE_H
diff --git a/Valve.ino b/Valve.ino
new file mode 100644
index 0000000..19542c1
--- /dev/null
+++ b/Valve.ino
@@ -0,0 +1,64 @@
+#include "Valve.h"
+
+Valve::Valve(pin pwm_pin, int usec_opened, int usec_closed)
+	: m_servo{}
+	, m_usec_opened{usec_opened}
+	, m_usec_closed{usec_closed}
+	, m_usec_current{usec_closed}
+{
+	m_servo.attach(pwm_pin);
+	update_pos();
+}
+
+Valve::~Valve()
+{
+}
+
+void	Valve::write_usec_timed(int usec_wanted, float seconds)
+{
+	float	msec_delay;
+	int		step;
+
+	if (m_usec_current < usec_wanted)
+		step = 1;
+	else if (m_usec_current > usec_wanted)
+		step = -1;
+	else
+		return ;
+	msec_delay = step * seconds * (1.e3 / (usec_wanted - m_usec_current));
+	if (seconds <= 0 || msec_delay < 0.5)
+	{
+		m_usec_current = usec_wanted;
+		update_pos();
+		return ;
+	}
+	while (msec_delay < 10)
+	{
+		step *= 2;
+		msec_delay *= 2;
+	}
+	while ((step > 0 && usec_wanted > m_usec_current) || (step < 0 &&
+		usec_wanted < m_usec_current))
+	{
+		m_usec_current += step;
+		update_pos();
+		delay(static_cast<unsigned long>(msec_delay));
+	}
+}
+
+void	Valve::open(float seconds)
+{
+	write_usec_timed(m_usec_opened, seconds);
+	//m_servo.writeMicroseconds(760);
+}
+
+void	Valve::close(float seconds)
+{
+	write_usec_timed(m_usec_closed, seconds);
+	//m_servo.writeMicroseconds(2400);
+}
+
+void	Valve::update_pos()
+{
+	m_servo.writeMicroseconds(m_usec_current);
+}
-- 
2.30.2