File content as of revision 1:8431b042a2eb:

#include "mbed.h"
#include "DRV8825.h"
#define MAX_SPEED 8000
#define MICROSTEPS_PER_STEP 32
#include "Ping.h"
#include <stdio.h> 
#include "TextLCD.h"
#include <cmath>
// add boundaries

Ping Pinger(p30);
Serial pc(USBTX, USBRX);
//TextLCD lcd(p19, p20, p21, p22, p23, p24); // rs, e, d4-d7

//DigitalOut myled(LED1);
    int PULL = 1;
    int PUSH = 0;
    int SALT = 1;
    int PURE = 0;
    int PREVIOUS_DIRECTION_SALT = -1;
    int PREVIOUS_DIRECTION_PURE = -1;
    //int POSITION_SALT = 14;
    //int POSITION_PURE = 27;
    //int MAX = 35;
    //int MIN = 0; 
    
    DRV8825 stpr_mtr(p21, p27, p28, p29, p22, p23);
    DRV8825 stpr_mtr2(p24, p27, p28, p29, p25, p26);

bool proximity_ok(){
    int range;
 
        Pinger.Send();   
        wait(0.1); 
        range = Pinger.Read_cm();
        
        
        range = range/2;
       // lcd.printf("Range in cm: %d \n\r", range);
        
    if (range >= 12){
        //lcd.printf("Proximity ok");
        return true;
    }    
    return false;        
}  

void add_water(int type, double mililiters, int DIRECTION){
        
    int MOVEMENT = 4600; //constant for 1 mL
    double STEP_EXTRA = 3000; //for the other mL's
            
        //accelerate
        for (int i = 25; i < MAX_SPEED; i+=20) {    
            if (type == SALT)
                stpr_mtr.settings(1/MICROSTEPS_PER_STEP, DIRECTION, i);
           else 
               stpr_mtr2.settings(1/MICROSTEPS_PER_STEP, DIRECTION, i);  
        } 
    
        //fix the changing of directions for pure
        if (type == PURE){       
            //mililiters = mililiters * 2.0;    
           if (PREVIOUS_DIRECTION_PURE != DIRECTION)
              mililiters = mililiters + 1.0;
        }    
    
        //fix the changing of directions for salt
        if (type == SALT){       
          //mililiters = mililiters * 2.0;
          if (PREVIOUS_DIRECTION_SALT != DIRECTION)
             mililiters = mililiters + 1.0;
         //if (PREVIOUS_DIRECTION_SALT == PULL)
               //mililiters = mililiters + 0.5;      
        }    

        //move with constant speed
        for (int i = 1; i < (MOVEMENT + (int)floor(((mililiters - 1.0)*STEP_EXTRA))); i+=1) {      
            if (type == SALT)
                stpr_mtr.settings(1/MICROSTEPS_PER_STEP, DIRECTION, MAX_SPEED);
            else
                stpr_mtr2.settings(1/MICROSTEPS_PER_STEP, DIRECTION, MAX_SPEED);   
            
            //if ((i - MOVEMENT) % STEP_EXTRA == 0 && !proximity_ok())
              //  break;
        }
        
        //de-accelerate
        for (int i = MAX_SPEED; i > 0; i-=20) {    
            if (type == SALT)
                stpr_mtr.settings(1/MICROSTEPS_PER_STEP, DIRECTION, i);
            else
                stpr_mtr2.settings(1/MICROSTEPS_PER_STEP, DIRECTION, i);    
        }
    
        //remember previous direction
        if (type == SALT){    
            PREVIOUS_DIRECTION_SALT = DIRECTION;
        }else{       
            PREVIOUS_DIRECTION_PURE = DIRECTION;  
        }           
}

int main() {
    
    //add_water(PURE, -1, PUSH);
    //add_water(SALT, -1, PUSH);
    
    //if(proximity_ok()){
    //add_water(SALT, 1, PULL);
        //lcd.printf(" GO");
        //add_water(SALT, 2, PUSH);
        add_water(PURE, 2.0, PUSH);
        wait(2);
        add_water(PURE, 2.0, PULL);
        wait(2);
        add_water(PURE, 2.0, PUSH);
        wait(2);
        add_water(PURE, 2.0, PULL);
        wait(2);
        add_water(PURE, 2.0, PUSH);
        wait(2);
        add_water(PURE, 2.0, PULL);
        //add_water(SALT, 2, PULL);
        /*
        wait(2);
        add_water(SALT, 1, PULL);
        wait(2);
        add_water(SALT, 2, PUSH);
        wait(2);
        add_water(SALT, 3, PULL);
        //add_water(PURE, 1, PUSH);
        //wait(2);
        */
    //}    
    
    /*
    //add_water(SALT, 2, PULL);
    if(proximity_ok()){
        add_water(SALT, 2, PUSH);
        wait(2);
    }    
    //add_water(SALT, 3, PULL);
    if(proximity_ok()){
        add_water(SALT, 3, PUSH);
        wait(2);
    }
      
        add_water(SALT, 2, PUSH);
   
    //add_water(PURE, 1, PULL);
    //add_water(PURE, 1, PUSH);
    //add_water(PURE, 2, PULL);
    //add_water(PURE, 2, PUSH);
    //add_water(PURE, 3, PULL);
    //add_water(PURE, 3, PUSH);

    */
    
}