Merge pull request #62 from DEIS-Tools/60-fw-set-tube-level-in-tube-2…

…-results-in-error #60 Set tube level in tube 2 results in error
DEIS-Tools · Aug 28, 2024 · 7e03275 · 7e03275
2 parents acbc4b8 + 07e39cf
commit 7e03275
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Showing 2 changed files with 5 additions and 5 deletions.
diff --git a/src/Claire.cpp b/src/Claire.cpp
@@ -282,9 +282,9 @@ bool Claire::setLevel(Output &in, Output &out, int level) {
 
   Sensor sensor = default_sensor_defs::TUBE1_HEIGHT;
 
-  if (in.tube == 0) {
+  if (in.tube == 1) {
     sensor = default_sensor_defs::TUBE1_HEIGHT; 
-  } else if (in.tube == 1) {
+  } else if (in.tube == 2) {
     sensor = default_sensor_defs::TUBE2_HEIGHT;
   } else {
     Serial.println("ERROR: Unknown tube referenced, aborting setLevel");

diff --git a/src/Claire.h b/src/Claire.h
@@ -25,7 +25,7 @@
 #define SET_LEVEL_INTEGRAL_GAIN 5
 #define SET_LEVEL_ADD_MIN_ACTUATE_TIME 500
 #define SET_LEVEL_ADD_MAX_ACTUATE_TIME 5000
-#define SET_LEVEL_SUB_MIN_ACTUATE_TIME 1000
+#define SET_LEVEL_SUB_MIN_ACTUATE_TIME 700
 #define SET_LEVEL_SUB_MAX_ACTUATE_TIME 5000
 // allowed inaccuracy of ranging when setting level
 #define SET_LEVEL_HYSTERESIS 5
@@ -91,8 +91,8 @@ static Output** default_pumps = new Output*[PUMP_COUNT + 1] {
 
 
 namespace default_sensor_defs {
-static const auto TUBE1_HEIGHT = Sensor{ 10, "Tube1_sonar_dist_mm", 0 };
-static const auto TUBE2_HEIGHT = Sensor{ 11, "Tube2_sonar_dist_mm", 1 };
+static const auto TUBE1_HEIGHT = Sensor{ 11, "Tube1_sonar_dist_mm", 1 };
+static const auto TUBE2_HEIGHT = Sensor{ 10, "Tube2_sonar_dist_mm", 2 };
 }
 
 const int SENSOR_COUNT = 2;