Leak detecting

src/analog.cpp

@@ -81,6 +81,26 @@ bool AnalogKillSwitch::getValueThresh() {
 	return (getValueRaw() > threshold);
 }
 
+
+LeakDetector::LeakDetector(PinName pin, float thresh) :
+AnalogInput(pin),
+threshold(thresh)
+{
+
+}
+
+LeakDetector::~LeakDetector() {}
+
+void updateLeak()
+{
+	hasLeak = leakDetector.getValueThresh();
+}
+
+bool LeakDetector::getValueThresh()
+{
+	return (getValueRaw() > threshold);
+}
+
 void updateKill() {
 	isAlive = kill.getValueThresh();
 }

src/analog.h

@@ -5,7 +5,7 @@
 
 /*
  * Generic class for devices that output analog to the mbed.
- * Currently, these are the pressure sensor and the killswitch.
+ * Currently, these are the pressure sensor, leak detector, and killswitch.
  */
 class AnalogInput {
 public:
@@ -52,12 +52,29 @@ class AnalogKillSwitch : public AnalogInput {
 	float value, threshold;
 };
 
+class LeakDetector : AnalogInput
+{
+public:
+	LeakDetector(PinName pin, float thresh);
+	~LeakDetector();
+
+	bool getValueThresh();
+
+private:
+	float threshold;
+
+};
+
+extern volatile bool hasLeak;
+void updateLeak();
+
 
 void updateKill();
 
 //The two analog devices are the killswitch and pressure sensor.
 extern AnalogKillSwitch kill;
 extern AnalogPressureSensor pressure;
+extern LeakDetector leakDetector;
 extern volatile bool isAlive;
 
 #endif

src/avnavcontrol.cpp

@@ -30,16 +30,17 @@ int main() {
 	imu.p_device->attach(&rx_interrupt_imu, Serial::RxIrq);
 
 	//create the tickers here
-	Ticker tick[5];
+	Ticker tick[6];
 	if (!debug) {
 		tick[0].attach(&send_status_pc, 0.1);
 	}
 	tick[1].attach(&do_pid, DT);
 	tick[2].attach(&motor_send_wrapper, DT/2);
 	tick[3].attach(&updateKill, .01);
 	tick[4].attach(&updatePressure, 0.1);
+	tick[5].attach(&updateLeak, .01);
 
-	while (true) {
+	while (!hasLeak) {
 		if (!motor.isTxEmpty()) {
 			tx_interrupt_motor();
 		}

src/global.cpp

@@ -14,6 +14,9 @@
 // TODO: check the magic threshold 0.85f. Too high/low?
 AnalogKillSwitch kill(p16, p18, 0.85f); // Vin, Vout
 
+//TODO: I picked 0.85f because that's what kill used. Check this.
+LeakDetector leakDetector(p20, 0.85f); //pin 20
+
 /* 
  * Daniel's was depth = adc_buffer[ADC_PRESS] * 0.361904762 - 101.33333;
  * That was based on the dsPIC33FJ family's ADC converter.
@@ -47,3 +50,4 @@ bool debug = false;
 
 volatile bool isAlive = false;
 volatile int depth(0);
+volatile bool hasLeak = false;