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main.cpp
00001 #include "mbed.h" 00002 #include "DRV8825.h" 00003 #define MAX_SPEED 8000 00004 #define MICROSTEPS_PER_STEP 32 00005 #include "Ping.h" 00006 #include <stdio.h> 00007 #include "TextLCD.h" 00008 #include <cmath> 00009 // add boundaries 00010 00011 Ping Pinger(p30); 00012 Serial pc(USBTX, USBRX); 00013 00014 int PULL = 1; 00015 int PUSH = 0; 00016 int SALT = 1; 00017 int PURE = 0; 00018 int PREVIOUS_DIRECTION_SALT = -1; 00019 int PREVIOUS_DIRECTION_PURE = -1; 00020 00021 DRV8825 stpr_mtr(p21, p27, p28, p29, p22, p23); 00022 DRV8825 stpr_mtr2(p24, p27, p28, p29, p25, p26); 00023 00024 bool proximity_ok(){ 00025 int range; 00026 00027 Pinger.Send(); 00028 wait(0.1); 00029 range = Pinger.Read_cm(); 00030 00031 00032 range = range/2; 00033 // lcd.printf("Range in cm: %d \n\r", range); 00034 00035 if (range >= 12){ 00036 //lcd.printf("Proximity ok"); 00037 return true; 00038 } 00039 return false; 00040 } 00041 00042 void add_water(int type, double mililiters, int DIRECTION){ 00043 00044 int MOVEMENT = 4000; //constant for 1 mL 00045 double STEP_EXTRA = 4700; //for the other mL's 00046 00047 //accelerate 00048 for (int i = 25; i < MAX_SPEED; i+=20) { 00049 if (type == SALT) 00050 stpr_mtr.settings(1/MICROSTEPS_PER_STEP, DIRECTION, i); 00051 else 00052 stpr_mtr2.settings(1/MICROSTEPS_PER_STEP, DIRECTION, i); 00053 } 00054 00055 //fix the changing of directions for pure 00056 if (type == PURE && PREVIOUS_DIRECTION_PURE != DIRECTION){ 00057 mililiters = mililiters + 1.0; 00058 } 00059 00060 //fix the changing of directions for salt 00061 if (type == SALT && PREVIOUS_DIRECTION_SALT != DIRECTION){ 00062 mililiters = mililiters + 1.0; 00063 } 00064 00065 //move with constant speed 00066 for (int i = 1; i < (MOVEMENT + (int)floor(((mililiters - 1.0)*STEP_EXTRA))); i+=1) { 00067 if (type == SALT) 00068 stpr_mtr.settings(1/MICROSTEPS_PER_STEP, DIRECTION, MAX_SPEED); 00069 else 00070 stpr_mtr2.settings(1/MICROSTEPS_PER_STEP, DIRECTION, MAX_SPEED); 00071 } 00072 00073 //de-accelerate 00074 for (int i = MAX_SPEED; i > 0; i-=20) { 00075 if (type == SALT) 00076 stpr_mtr.settings(1/MICROSTEPS_PER_STEP, DIRECTION, i); 00077 else 00078 stpr_mtr2.settings(1/MICROSTEPS_PER_STEP, DIRECTION, i); 00079 } 00080 00081 //remember previous direction 00082 if (type == SALT){ 00083 PREVIOUS_DIRECTION_SALT = DIRECTION; 00084 }else{ 00085 PREVIOUS_DIRECTION_PURE = DIRECTION; 00086 } 00087 } 00088 00089 int main() { 00090 //initialize 00091 wait(3); //turn the thing to pulling from reservoir 00092 add_water(PURE, 20.0, PULL); //20 00093 wait(3); //turn the thing to pushing to glass 00094 add_water(PURE, 20.0, PUSH); //19.5 00095 wait(3); //turn the thing to pulling from reservoir 00096 add_water(PURE, 20.0, PULL); //20 00097 wait(3); //turn the thing to pushing to glass 00098 add_water(PURE, 20.0, PUSH); //19 00099 wait(3); //turn the thing to pulling from reservoir 00100 add_water(PURE, 25.0, PULL); //20 00101 //done 00102 00103 //initialize 00104 wait(3); //turn the thing to pulling from reservoir 00105 add_water(SALT, 20.0, PULL); //20 00106 wait(3); //turn the thing to pushing to glass 00107 add_water(SALT, 20.0, PUSH); //19.5 00108 wait(3); //turn the thing to pulling from reservoir 00109 add_water(SALT, 20.0, PULL); //20 00110 wait(3); //turn the thing to pushing to glass 00111 add_water(SALT, 20.0, PUSH); //19 00112 wait(3); //turn the thing to pulling from reservoir 00113 add_water(SALT, 25.0, PULL); //20 00114 //done 00115 }
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