public boolean cleaningStart() {
boolean res = false;
if (connection.isConnected()) {
boolean r1 = setCylinderDistance(PlcConstants.SERVO_MAX_POSITION);
boolean r2 =
setFrequencies(
Utility.calcMotorFrequency(PlcConstants.SLOW_TRACK_SPEED),
Utility.calcMotorFrequency(PlcConstants.SLOW_TRACK_SPEED));
boolean r3 = setMode(Mode.CLEANING.getValue());
res = r1 && r2 && r3;
}
return res;
}
public boolean checkCleanliness() {
boolean res = false;
if (connection.isConnected()) {
boolean r1 =
setFrequencies(
Utility.calcMotorFrequency(PlcConstants.TRACK_SPEED),
Utility.calcMotorFrequency(PlcConstants.TRACK_SPEED));
// sleep 2s until the track is started
try {
Thread.sleep(2000);
} catch (InterruptedException e) {
e.printStackTrace();
}
boolean r2 = setMode(Mode.CLARITY_CHECKING.getValue());
res = r1 && r2;
}
return res;
}
public boolean cleaningStop() {
boolean res = false;
if (connection.isConnected()) {
boolean r1 =
setDelay(
Register.SINGLE_LENGTH_TURN_TIME,
Utility.calcTime(PlcConstants.TRACK_LENGTH / 2, PlcConstants.SLOW_TRACK_SPEED));
boolean r2 = setMode(Mode.TRACK_EMPTYING.getValue());
res = r1 && r2;
}
return res;
}
public boolean measurementStart(MeasureSetting mode, int length, int diameter) {
boolean res = false;
if (connection.isConnected()) {
Lights l = null;
switch (mode) {
case DIAMETER:
l = Lights.DIAMETER;
break;
case LENGTH:
l = Lights.LENGTH;
break;
case BOTH:
l = Lights.BOTH;
break;
}
boolean r1 =
setDelay(
Register.SINGLE_LENGTH_TURN_TIME,
Utility.calcTime(PlcConstants.TRACK_LENGTH / 2, PlcConstants.TRACK_SPEED) + 1);
boolean r2 =
setDelay(
Register.SENSOR_RELOCATION,
Utility.calcSensorDelay(
PlcConstants.SENSOR_DISTANCE,
PlcConstants.TRACK_SPEED,
PlcConstants.LIGHTING_CYCLE_TIME));
boolean r3 =
setFrequencies(
Utility.calcMotorFrequency(PlcConstants.TRACK_SPEED),
Utility.calcMotorFrequency(PlcConstants.TRACK_SPEED));
boolean r4 = setCylinderDistance(diameter);
boolean r5 = setLights(l);
boolean r6 =
setDelay(
Register.CONGESTION_2_WAIT_TIME,
Utility.calcCongestion2Time(
PlcConstants.CONGESTION2_SENSING_LENGTH, length, PlcConstants.TRACK_SPEED));
boolean r7 =
setDelay(
Register.LENGTH_LED_DELAY,
Utility.calcTriggerDelayFromLength(
length, PlcConstants.EXPOSITION_LENGTH, PlcConstants.TRACK_SPEED));
boolean r8 = setMode(Mode.LENGTH_AND_DIAMETER_MEASUREMENT.getValue());
res = r1 && r2 && r3 && r4 && r5 && r6 && r7 && r8;
}
return res;
}
public boolean init() {
boolean res = false;
if (connection.isConnected()) {
// TODO get configuration (this can be put somewhere else, too)
// set delays and time variables
boolean r1 = setDelay(Register.DIAMETER_LED_DELAY, PlcConstants.DIAMETER_LED_DELAY);
boolean r2 =
setDelay(
Register.CONGESTION_1_WAIT_TIME,
Utility.calcCongestion1Time(
PlcConstants.CONGESTION1_SENSING_LENGTH, PlcConstants.TRACK_SPEED));
boolean r3 = setDelay(Register.CONGESTION_1_TOLERANCE, PlcConstants.CONGESTION_TOLERANCE);
boolean r4 = setDelay(Register.CONGESTION_2_TOLERANCE, PlcConstants.CONGESTION_TOLERANCE_2ND);
boolean r5 = setDelay(Register.SHUT_DOWN_DELAY, PlcConstants.SHUTDOWN_DELAY_SECS);
boolean r6 =
setDelay(
Register.SINGLE_WHOLE_TURN_TIME,
Utility.calcTime(PlcConstants.TRACK_LENGTH, PlcConstants.TRACK_SPEED));
boolean r7 =
setDelay(
Register.BLOWER_ONE_DELAY,
Utility.calcTime(PlcConstants.FRONT_BLOWER_ON, PlcConstants.TRACK_SPEED));
boolean r8 =
setDelay(
Register.BLOWER_ONE_TIME,
Utility.calcTime(PlcConstants.FRONT_BLOWER_OFF, PlcConstants.TRACK_SPEED));
boolean r9 =
setDelay(
Register.BLOWER_TWO_DELAY,
Utility.calcTime(PlcConstants.REAR_BLOWER_ON, PlcConstants.TRACK_SPEED));
boolean r10 =
setDelay(
Register.BLOWER_TWO_TIME,
Utility.calcTime(PlcConstants.REAR_BLOWER_RUNNING_TIME, PlcConstants.TRACK_SPEED));
// set the servo null position
boolean r11 = setServoNullPosition(PlcConstants.SERVO_NULL_POSITION);
res = r1 && r2 && r3 && r4 && r5 && r6 && r7 && r8 && r9 && r10 && r11;
}
return res;
}