Added Servo limits page to Display, updated Testing to be less error prone.

Author: Scott Garrison

Display.pde

@@ -1,6 +1,7 @@
 void DoDisplay() {
   boolean disp_alt; // Var for alternating value display
   char buf[20];
+  char menu1[] = "NEXT  ADV   +    -  ";
   if (millis() % 2000 > 1000) {
     disp_alt = false;
   } 
@@ -364,6 +365,53 @@ void DoDisplay() {
       break;  
     }
 
+    break;
+      case DISPLAY_SERVO:   //need to add constraints for min and max?
+    item_count = 2;
+    testing_state = TESTING_SERVO;  //necessary so that there isn't any conflicting servo writes
+    Disp_RC(0,0);
+    sprintf(buf, "ServoMin%3i", int(throttle_valve_closed));
+    Disp_PutStr(buf);
+    Disp_RC(0,11);
+    sprintf(buf, " Max %3i", int(throttle_valve_open));
+    Disp_PutStr(buf);
+    //Row 1
+    Disp_RC(1,0);
+    Disp_PutStr(" Careful of Sides!  "); 
+    Disp_RC(2,0);
+    Disp_PutStr("                    ");
+    switch (cur_item) {
+    case 1: // Servo Min
+      Servo_Mixture.write(throttle_valve_closed);
+      if (key == 2) {
+        if (throttle_valve_closed + 1 < throttle_valve_open){
+          throttle_valve_closed += 1;
+        }
+      }
+      if (key == 3) {
+        throttle_valve_closed -= 1;
+      }
+      Disp_RC(3,0);
+      Disp_PutStr(menu1);
+      Disp_RC(0,0);
+      Disp_CursOn();
+      break;
+    case 2: //Servo Max 
+      Servo_Mixture.write(throttle_valve_open);
+      if (key == 2) {
+        throttle_valve_open += 1;
+      }
+      if (key == 3) {
+        if (throttle_valve_open - 1 > throttle_valve_closed) {
+          throttle_valve_open -= 1;
+        }
+      }
+      Disp_RC(3,0);
+      Disp_PutStr(menu1);
+      Disp_RC(0,11);
+      Disp_CursOn();
+      break;
+    }
     break;
     //    case DISPLAY_TEMP2:
     //      break;
@@ -392,6 +440,9 @@ void TransitionDisplay(int new_state) {
   case DISPLAY_TESTING:
     cur_item = 1;
     break;
+  case DISPLAY_SERVO:
+    cur_item = 1;
+    break;
   }
   display_state=new_state;
 }
@@ -425,8 +476,17 @@ void DoKeyInput() {
       }
       break;
     case DISPLAY_TESTING:
+      if (engine_state == ENGINE_OFF){
+        TransitionDisplay(DISPLAY_SERVO);
+      } else {
       TransitionDisplay(DISPLAY_REACTOR);
       TransitionTesting(TESTING_OFF);
+      }
+      break;
+    case DISPLAY_SERVO:
+      WriteServo();
+      TransitionDisplay(DISPLAY_REACTOR);  //assume that engine state is off because we are already in DISPLAY_SERVO
+      TransitionTesting(TESTING_OFF);
       break;
     }
     key = -1; //key caught

KS_100kW.pde

@@ -135,6 +135,8 @@ unsigned long ash_on = 0;
 #define DISPLAY_LAMBDA 4
 #define DISPLAY_GRATE 5
 #define DISPLAY_TESTING 6
+#define DISPLAY_SERVO 7
+
 String display_string = "";
 
 //Testing States
@@ -152,6 +154,7 @@ String display_string = "";
 #define TESTING_ANA_FUEL_SWITCH 11
 #define TESTING_ANA_POT1 12
 #define TESTING_ANA_POT2 13
+#define TESTING_SERVO 14
 
 //Test Variables
 int testing_state = TESTING_OFF;
@@ -294,6 +297,7 @@ int lambda_state;
 unsigned long lambda_state_entered;
 
 //Governor
+byte servo_min,servo_max;
 double throttle_valve_open = 123; //calibrated angle for servo valve open
 double throttle_valve_closed = 48; //calibrated angle for servo valve closed (must be smaller value than open)
 double governor_setpoint;
@@ -482,6 +486,7 @@ void setup() {
   //LoadLambda(); - must save lambda data first?
   Serial.begin(57600);
   InitSD();
+  LoadServo();
 
   Disp_Init();
   Kpd_Init();
@@ -522,41 +527,48 @@ void setup() {
 void loop() {
   if (millis() >= nextTime3) {
     nextTime3 += loopPeriod3;
-    // first, read all KS's sensors
-    Temp_ReadAll();  // reads into array Temp_Data[], in deg C
-    Press_ReadAll(); // reads into array Press_Data[], in hPa
-    Timer_ReadAll(); // reads pulse timer into Timer_Data, in RPM ??? XXX
-    DoPressure();
-    DoSerialIn();
-    DoLambda();
-    //DoGovernor();
-    DoAuger();
-    DoRotaryValve();
-    DoConveyor();
-    DoEngine();
-    DoGrate();
-    DoAshOut();
-    DoAshGrate();
-    DoHopperAgitator();
-    //DoServos();
-    DoFlare();
-    DoReactor();
+    if (testing_state == TESTING_OFF) {
+      // first, read all KS's sensors
+      Temp_ReadAll();  // reads into array Temp_Data[], in deg C
+      Press_ReadAll(); // reads into array Press_Data[], in hPa
+      Timer_ReadAll(); // reads pulse timer into Timer_Data, in RPM ??? XXX
+      DoPressure();
+      DoSerialIn();
+      DoLambda();
+      //DoGovernor();
+      DoAuger();
+      DoRotaryValve();
+      DoConveyor();
+      DoEngine();
+      DoGrate();
+      DoAshOut();
+      DoAshGrate();
+      DoHopperAgitator();
+      //DoServos();
+      DoFlare();
+      DoReactor();
+      DoControlInputs();
+      DoDriveReset(); //reset drive commands to correctly drive AC motors
+      //TODO: Add OpenEnergyMonitor Library
+    }
     DoKeyInput();
     DoHeartBeat(); // blink heartbeat LED
-    DoControlInputs();
-    DoDriveReset(); //reset drive commands to correctly drive AC motors
-    //TODO: Add OpenEnergyMonitor Library
+
     if (millis() >= nextTime2) {
       nextTime2 += loopPeriod2;
       DoDisplay();
       if (millis() >= nextTime1) {
         nextTime1 += loopPeriod1;
-        DoFilter();
-        DoDatalogging();
-        DoAlarmUpdate();
+        if (testing_state == TESTING_OFF) {
+          DoFilter();
+          DoDatalogging();
+          DoAlarmUpdate();
+        }
         if (millis() >= nextTime0) {
-          nextTime0 += loopPeriod0;
-          DoAlarm();
+          if (testing_state == TESTING_OFF) {
+            nextTime0 += loopPeriod0;
+            DoAlarm();
+          }
         }
       }
     }

Servo.pde

@@ -12,3 +12,27 @@ void InitServos() {
 }
 
 
+void LoadServo() {
+  servo_min = EEPROM.read(23);
+  if (servo_min != 255) {  //if EEPROM in default value, then default to 133
+    premix_valve_open = int(servo_min);
+  }
+  servo_max = EEPROM.read(22);
+  if (servo_max != 255) { //if EEPROM in default value, then default to 68
+    premix_valve_closed = int(servo_max);
+  } 
+}
+
+void WriteServo(){
+  if (servo_min != premix_valve_closed) {
+    EEPROM.write(22,premix_valve_closed);
+    servo_min = premix_valve_closed;
+    Serial.println("#Writing Servo Min position setting to EEPROM");
+  }
+  if (servo_max != premix_valve_open){
+    EEPROM.write(23,premix_valve_open);
+    servo_max = premix_valve_open;
+    Serial.println("#Writing Servo Max position setting to EEPROM");
+  }
+}
+

Test.pde

@@ -1,12 +1,3 @@
-void DoTesting() {
-  while (testing_state != TESTING_OFF) {
-    //run seperate closed loop while in testing mode, taking all processor cycles
-    DoDisplay();
-    DoKeyInput();
-    DoHeartBeat();
-  }
-}
-
 void TransitionTesting(int new_state) {
   testing_state_entered = millis();
   Serial.print("#Switching to testing state:");
@@ -112,7 +103,6 @@ void GoToNextTestingState() {
   switch (testing_state) {
   case TESTING_OFF:
     TransitionTesting(TESTING_FET0);
-    DoTesting();
     break;
   case TESTING_FET0:
     TransitionTesting(TESTING_FET1);