本文整理汇总了C++中Publisher::add方法的典型用法代码示例。如果您正苦于以下问题：C++ Publisher::add方法的具体用法？C++ Publisher::add怎么用？C++ Publisher::add使用的例子？那么, 这里精选的方法代码示例或许可以为您提供帮助。您也可以进一步了解该方法所在类Publisher的用法示例。
在下文中一共展示了Publisher::add方法的1个代码示例，这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞，您的评价将有助于系统推荐出更棒的C++代码示例。
示例1: getSensor
/**
* Controls all the inner workings of the PID functionality
* Should be called by _timer
*
* Controls the heating element Relays manually, overriding the standard relay
* functionality
*
* The pid is designed to Output an analog value, but the relay can only be On/Off.
*
* "time proportioning control" it's essentially a really slow version of PWM.
* first we decide on a window size. Then set the pid to adjust its output between 0 and that window size.
* lastly, we add some logic that translates the PID output into "Relay On Time" with the remainder of the
* window being "Relay Off Time"
*
* PID Adaptive Tuning
* You can change the tuning parameters. this can be
* helpful if we want the controller to be agressive at some
* times, and conservative at others.
*
*/
void Ohmbrewer::Thermostat::doPID(){
getSensor()->work();
setPoint = getTargetTemp()->c(); //targetTemp
input = getSensor()->getTemp()->c();//currentTemp
double gap = abs(setPoint-input); //distance away from target temp
//SET TUNING PARAMETERS
if (gap<10) { //we're close to targetTemp, use conservative tuning parameters
_thermPID->SetTunings(cons.kP(), cons.kI(), cons.kD());
}else {//we're far from targetTemp, use aggressive tuning parameters
_thermPID->SetTunings(agg.kP(), agg.kI(), agg.kD());
}
//COMPUTATIONS
_thermPID->Compute();
if (millis() - windowStartTime>windowSize) { //time to shift the Relay Window
windowStartTime += windowSize;
}
//TURN ON
if (getState() && gap!=0) {//if we want to turn on the element (thermostat is ON)
//TURN ON state and powerPin
if (!(getElement()->getState())) {//if heating element is off
getElement()->setState(true);//turn it on
if (getElement()->getPowerPin() != -1) { // if powerPin enabled
digitalWrite(getElement()->getPowerPin(), HIGH); //turn it on (only once each time you switch state)
}
}
//RELAY MODULATION
if (output < millis() - windowStartTime) {
digitalWrite(getElement()->getControlPin(), HIGH);
} else {
digitalWrite(getElement()->getControlPin(), LOW);
}
}
//TURN OFF
if (gap == 0 || getTargetTemp()->c() <= getSensor()->getTemp()->c() ) {//once reached target temp
getElement()->setState(false); //turn off element
getElement()->work();
// if (getElement()->getPowerPin() != -1) { // if powerPin enabled
// digitalWrite(getElement()->getPowerPin(), LOW); //turn it off too TODO check this
// }
// Notify Ohmbrewer that the target temperature has been reached.
Publisher pub = Publisher(new String(getStream()),
String("msg"),
String("Target Temperature Reached."));
pub.add(String("last_read_time"),
String(getSensor()->getLastReadTime()));
pub.add(String("temperature"),
String(getSensor()->getTemp()->c()));
pub.publish();
}
}