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	- Project: test
	- Source Code compiled for: Arduino Nano
	- Source Code created on: 2023-12-03 10:36:29
	- Source Code generated by: Francesco Alessandro

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/****** SYSTEM REQUIREMENTS *****/
/****** SYSTEM REQUIREMENT 1 *****/
	/* read velocity speed and and adjust the servo */
	/* position to maintain the same velocity speed of */
	/* 100km/h. */
/****** END SYSTEM REQUIREMENTS *****/

/****** DEFINITION OF LIBRARIES *****/
#include <Arduino.h>
#include <Servo.h>

/****** FUNCTION PROTOTYPES *****/
void setup(void);
void loop(void);
void updateInputs(void);
float lookup_phyData_from_voltage(float voltage, int segment_points, const float* voltage_phyData_lookup);
float map_f(float x, float in_min, float in_max, float out_min, float out_max);
void convertInputsFromRawToPhyData(void);

/***** DEFINITION OF ANALOG INPUT PINS *****/
const uint8_t pot_Potentiometer_Vout_PIN_A0 = A0;

/***** DEFINITION OF PWM OUTPUT PINS *****/
const uint8_t actuator_Servomotor_PWMSignal_PIN_D3 = 3;

/****** DEFINITION OF ANALOG INPUTS CHARACTERISTIC CURVES *****/
const uint8_t SEGMENT_POINTS_voltage_velocity_PIN_A0 = 5;
const float voltage_velocity_PIN_A0_lookup[2][SEGMENT_POINTS_voltage_velocity_PIN_A0] =
{
  {0.2, 0.8, 2.0, 3.0, 4.0}, //Voltage [V]
  {10.0, 30.0, 60.0, 100.0, 250.0} //velocity [km/h]
};


/***** DEFINITION OF INPUT RAW VARIABLES *****/
/***** used to store raw data *****/
unsigned int pot_Potentiometer_Vout_PIN_A0_rawData = 0; // Analog Input

/***** DEFINITION OF INPUT PHYSICAL VARIABLES *****/
/***** used to store data after characteristic curve transformation *****/
float pot_Potentiometer_Vout_PIN_A0_phyData = 0.0; // velocity [km/h]

/****** DEFINITION OF LIBRARIES CLASS INSTANCES*****/
Servo myservo;

void setup(void)
{
  // put your setup code here, to run once:
  myservo.attach(actuator_Servomotor_PWMSignal_PIN_D3);

  pinMode(pot_Potentiometer_Vout_PIN_A0, INPUT);
}

void loop(void)
{
  // put your main code here, to run repeatedly:
  updateInputs(); // Refresh input data

  convertInputsFromRawToPhyData(); // after that updateInput function is called, so raw data are transformed in physical data in according to characteristic curve

  // Write the physical data to the servo
  myservo.write(pot_Potentiometer_Vout_PIN_A0_phyData);

  delay(15);
}

void updateInputs()
{
  pot_Potentiometer_Vout_PIN_A0_rawData = analogRead(pot_Potentiometer_Vout_PIN_A0);
}

/* BLOCK lookup_phyData_from_voltage */
float lookup_phyData_from_voltage(float voltage, int segment_points, const float* voltage_phyData_lookup)
{
	// Search table for appropriate value.
	uint8_t index = 0;

	const float *voltagePointer = &voltage_phyData_lookup[0];
	const float *phyDataPointer = &voltage_phyData_lookup[segment_points];

	// Perform minimum and maximum voltage saturation based on characteristic curve
	voltage = min(voltage, voltagePointer[segment_points-1]);
	voltage = max(voltage, voltagePointer[0]);

	while( voltagePointer[index] <= voltage && index < segment_points )
		index++;

	// If index is zero, physical value is smaller than our table range
	if( index==0 )
	{
		return map_f( voltage,
			voltagePointer[0],   // X1
			voltagePointer[1],   // X2
			phyDataPointer[0],   // Y1
			phyDataPointer[1] ); // Y2
	}
	// If index is maxed out, phyisical value is larger than our range.
	else if( index==segment_points )
	{
		return map_f( voltage,
			voltagePointer[segment_points-2],   // X1
			voltagePointer[segment_points-1],   // X2
			phyDataPointer[segment_points-2],   // Y1
			phyDataPointer[segment_points-1] ); // Y2
	}
	// index is between 0 and max, just right
	else
	{
		return map_f( voltage,
			voltagePointer[index-1], // X1
			voltagePointer[index],    // X2
			phyDataPointer[index-1], // Y1
			phyDataPointer[index] );  // Y2
	}
}
/* END BLOCK lookup_phyData_from_voltage */

/* BLOCK map_f */
float map_f(float x, float in_min, float in_max, float out_min, float out_max)
{
	return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
}
/* END BLOCK map_f */

/* BLOCK convertInputsFromRawToPhyData */
void convertInputsFromRawToPhyData()
{
	float voltage = 0.0;

	voltage = pot_Potentiometer_Vout_PIN_A0_rawData * (3.3 / 1023.0);
	pot_Potentiometer_Vout_PIN_A0_phyData = lookup_phyData_from_voltage(voltage, SEGMENT_POINTS_voltage_velocity_PIN_A0, &(voltage_velocity_PIN_A0_lookup[0][0]));

}
/* END BLOCK convertInputsFromRawToPhyData */