File content as of revision 0:fd45411cac49:
//Firmware to drive Eton bee trainer breadboard
char* fwversion = "0.90"; //For published versions use format "n.nn"
//For development versions add "D" to end of string
//This version published on 28/03/2011
//Include libraries
#include "mbed.h"
#include "Servo.h" //need this library to control servos
//Pin assignments and external functions
DigitalOut led1(LED1), led2(LED2), led3(LED3), led4(LED4); //for debugging purposes only
DigitalOut buzzer(p5); //pin high means buzzer on
DigitalOut airswitcher(p7); //pin high shorts coax for air switcher valve
Serial display(p9,p10); //serial display controller by ByVAC BV4618 controller
AnalogOut irLED(p18); //only one analog out controls both IR LEDS in parallel
AnalogIn ptor1(p19), ptor2(p20); //analog input for beeholder phototransistors
Servo arm1(p21), elbow1(p22); //servos for station 1 robot arm
Servo arm2(p23), elbow2(p24); //servos for station 2 robot arm
I2C beeholder(p28,p27); //set up I2C communication to read beeholder serial no
DigitalOut bhsel1(p29), bhsel2(p30); //select lines for station 1 and station 2 - pull low to select holder
DigitalIn upsw(p13), risw(p14), dnsw(p15), lesw(p16), oksw(p17); //footswitch connected parallel to OK switch
LocalFileSystem local("local"); //allow access to the mbed "thumbdrive" as a file system
FILE *logfile = fopen("/local/etonlog.csv","w"); //creates new file etonlog.csv and set for writing. Overwrites existing file!
//Definition of global constants
//station 1 (left) robot arm positions
float arm1basepos = 0.4;
float elbow1basepos = 0.07;
float arm1dippos = 0.2;
float elbow1dippos = 0.6;
float arm1ticklepos = 0.65;
float elbow1ticklepos = 0.07;
float arm1feedpos = 0.7;
float elbow1feedpos = 0.4;
//station 2 (right) robot arm positions
float arm2basepos = 0.4;
float elbow2basepos = 0.07;
float arm2dippos = 0.2;
float elbow2dippos = 0.07;
float arm2ticklepos = 0.2;
float elbow2ticklepos = 0.07;
float arm2feedpos = 0.2;
float elbow2feedpos = 0.07;
//robot arm hold and move times all times are in seconds
float diptime = 1; //time that brush stays down dipped in sugar water
float tickletimeout = 3; //maximum time to tickle if no PER is detected
float feedtime = 3; //feeding time
//PER detection parameters
float calsetval = 1.4; //voltage to which phototransistor output will be calibrated
float PERsetval = 2.1; //phototransistor output needs to be above this voltage for PER
float PERtime = 0.2; //phototransistor output needs to stay high this long in seconds
//I2C address
int addr = 0xA2; //address is actually 0x51, but mbed expects left-shifted address
//Definition of global variables
struct holderrecord { //used to hold data on beeholder
int serialno; //beeholder serial number 0-9999
float calvalue; //IR-LED calibration value
char cycleno; //number of cycles gone through in this session
char reslastcycle; //result of last cycle, 1 for PER
char ticklenextcycle; //whether tickling was done for last cycle
time_t tstamp; //timestamp when last cycle was run
};
holderrecord currentholder; //struct record for the current beeholder
holderrecord sessionrecord[30]; //sessionrecord contains holderrecords for up to 30 beeholders
int numbeeholders; //number of beeholders used in current session
int station; //which station is used in this session
//Substance strings
struct submenuitem {
char* displaystring; //keep display string to 19 characters or less, otherwise display screws up
char* logstring; //this is the string that gets printed in the logfile, and can be longer then 19 characters
};
submenuitem submenu[11];
int substanceindex; //this variable contains the index number (in the list) of the selected substance
//Function declarations
//Short beep
void beeponce() {
buzzer = 1;
wait(0.1);
buzzer = 0;
}
//beep beep beep
void multibeeps(int number, float interval) {
for(int i=0;i<number;i++){
beeponce();
wait(interval);
}
}
//Clears and homes the display
void cleardisplay() {
display.printf("\e[2J\e[H");
}
//Returns both robot arms to base position
void armstobase() {
elbow1 = elbow1basepos;
elbow2 = elbow2basepos;
wait(0.5); //need this delay to avoid snagging brush on IR LED
arm1 = arm1basepos;
arm2 = arm2basepos;
}
//Fills the substance menu array with text
void fillsubstancemenu() {
submenu[0].displaystring = "No substance";
submenu[0].logstring = "Lack of substance";
submenu[1].displaystring = "Coffee";
submenu[1].logstring = "Espresso macchiato";
submenu[2].displaystring = "Earl Grey";
submenu[2].logstring = "Nice cup of tea";
submenu[3].displaystring = "Apple Pie";
submenu[3].logstring = "Mom's homemade apple pie - longer then 19 characters";
submenu[4].displaystring = "Substance 04";
submenu[4].logstring = "Substance 4";
submenu[5].displaystring = "Substance 05";
submenu[5].logstring = "Substance 5";
submenu[6].displaystring = "Substance 06";
submenu[6].logstring = "Substance 6";
submenu[7].displaystring = "Substance 07";
submenu[7].logstring = "Substance 7";
submenu[8].displaystring = "Substance 08";
submenu[8].logstring = "Substance 8";
submenu[9].displaystring = "Substance 09";
submenu[9].logstring = "Substance 9";
submenu[10].displaystring = "Red Roses";
submenu[10].logstring = "I never promised you a rose garden";
}
//Initialises sessionrecords
void sessionrecordinit() {
for (int i=0; i<30; i++) { //set base values for all possible beeholders
sessionrecord[i].serialno = 0; //set serialno to 0 so we can detect a unresponsive holder
sessionrecord[i].calvalue = 0;
sessionrecord[i].cycleno = 0;
sessionrecord[i].reslastcycle = 0;
sessionrecord[i].ticklenextcycle = 1; //default is to tickle on each cycle
}
}
//Initialisation on power-on
void initialise() {
//Set pins to a defined state
led1 = led2 = led3 = led4 =0; //internal LEDs only used for debugging purposes
buzzer = 0; //buzzer off
airswitcher = 0; //relay contacts open, clean air position
bhsel1 = bhsel2 = 1; //I2C select lines high to deselect both beeholders
upsw.mode(PullUp); //set pull-up on all frontpanel switches
risw.mode(PullUp);
dnsw.mode(PullUp);
lesw.mode(PullUp);
oksw.mode(PullUp);
//Set robot arms to base positions
armstobase();
//initialise the display
display.baud(19200); //set display baud rate to 19200
display.putc(0x0d); //send CR to display - this needs to be first character sent after power-up
wait(0.5); //wait for display to adjust to serial baud rate
display.printf("\e[4L\e[20c"); //set display to 4 lines of 20 characters
cleardisplay(); //clear screen and home cursor
//display splash screen with time
display.printf("Eton trainer v%s\r", fwversion); //show firmware release version
time_t seconds = time(NULL); //creates timestamp
char bufferd[20], buffert[20];
strftime(bufferd, 20, "%d/%m/%Y", localtime(&seconds)); //formats date part of timestamp
display.printf("Date: %s\r", bufferd); //displays date
strftime(buffert, 20, "%X", localtime(&seconds)); //formats time part of timestamp
display.printf("Time: %s\r", buffert); //displays time
wait(3); //display splash screen
cleardisplay(); //clear screen and home cursor
//initialise sessionrecord
sessionrecordinit();
//initialise substance menu
fillsubstancemenu();
//enter info in logfile.csv
fprintf(logfile, "%s\r", bufferd); //writes date, time and firmware version
fprintf(logfile, "%s\r", buffert);
fprintf(logfile, "v%s\r", fwversion);
beeponce(); //three beeps to signal initialisation ready
}
//Returns the index of the selected substance menu item
int subchoice(submenuitem submenu[11]) {
bool up, down, done;
int i;
up = down = done = 0;
i = 0;
cleardisplay();
display.printf("Substance selection");
wait(3);
cleardisplay();
while (!done) {
display.printf("%s\r", submenu[i].displaystring);
display.printf("\rUP/DOWN to scroll\rOK to select");
while (!up && !down && !done) {
up = !upsw;
down = !dnsw;
done = !oksw;
}
if (up) {
i++;
if (i==11) i = 0;
}
if (down) {
if (i==0) i = 11;
i--;
}
cleardisplay();
}
return i;
}
//Converts the last 4 digits in the serial number string into a integer 0-9999
int serialstring2int(char bser[8]) {
int tempserial = 0;
tempserial = tempserial + (bser[4]-0x30)*1000; //5th digit is thousands
tempserial = tempserial + (bser[5]-0x30)*100; //6th digit is hundreds
tempserial = tempserial + (bser[6]-0x30)*10; //7th digit is tens
tempserial = tempserial + (bser[7]-0x30); //8th digit is units
return tempserial;
}
//beeholder resets on rising edge of select line
void resetbeeholder() { //need this as mounting beeholder causes undefined start of beeholder firmware
bhsel1 = bhsel2 = 0;
wait(0.1);
bhsel1 = bhsel2 = 1;
wait(0.3);
}
//Reads beeholder serial number from station 1 or 2
int getserialno(int station) {
char bser[8]; //define 8-byte serial number string to read
resetbeeholder(); //does not work without this!!
for (int i=0;i<8;i++) bser[i]=0x30;
if (station==1) bhsel1=0; //pull select line station 1 low
if (station==2) bhsel2=0; //pull select line station 2 low
wait(0.2);
beeholder.stop(); //I2C stop condition
wait(0.2); //delay for beeholder to respond
beeholder.write(addr,0x0,1); //initial write before read
beeholder.read(addr,bser,8); //read 8 byte serial number
bhsel1 = bhsel2= 1; //pull both select lines high
int serialno = serialstring2int(bser); //translate serial number string to integer
return serialno;
}
//Returns 1 if a PER is detected on this beeholder within timeout seconds
int detectPER(int station, float timeout) {
Timer ttotal, tper;
ttotal.start(); //start timers for time-out and PER-detect
ttotal.reset();
tper.start();
tper.reset();
if (station == 1) {
while ((ttotal.read() < timeout) && (tper.read() < PERtime)) { //loop until timeout or PER detected
wait_ms(10);
if (ptor1 * 3.3 < PERsetval) tper.reset(); //if phototransistor voltage below treshold keep PER timer in reset
//if above treshold let timer run until it reaches PERtime
}
}
if (station == 2) {
while ((ttotal.read() < timeout) && (tper.read() < PERtime)) {
if (ptor2 * 3.3 < PERsetval) tper.reset();
}
}
ttotal.stop();
tper.stop();
return (tper.read() >= PERtime); //if the loop exit condition was a PER, return a TRUE value
}
//Checks if bee shows PER when stimulated with odour but without feeding
int checktrained(int station) {
airswitcher = 1;
int responded = detectPER(station, 6); //PER needs to be detected within 6 seconds
airswitcher = 0;
return responded;
}
//Function performs beeholder/IR-led calibration
float calibrate(int station, int runs) {
float tempcal;
tempcal=0.5; //start calibration at 50% voltage
irLED=tempcal;
float calstep; //start calstep at 25% voltage
calstep = tempcal/2;
for (int i=0; i<10; i++) { //does a "10-bit binary search" for the correct voltage to get a good response
irLED = tempcal;
wait(0.1); //important to allow AD converter to settle
if (ptor1 < calsetval/3.3) { //check phototransistor voltage against desired value
tempcal = tempcal - calstep; //if phototransistor voltage is too low then reduce brightness
}
else {
tempcal = tempcal + calstep; //if phototransistor voltage is too high then increase brightness
}
calstep = calstep/2; //on each loop of the for-cycle make smaller changes to IR LED voltage
}
float calib;
calib = tempcal; //set preliminary calibration to the value just measured
for (int j=1; j<runs; j++) { //run another j-1 runs, this corrects for antennae-movement as
tempcal=0.5; //we use the lowest calibration value from j runs
irLED=tempcal; //this is similar to what we do in the cassettes
calstep = tempcal/2;
for (int i=0;i<10;i++) {
irLED = tempcal;
wait(0.1);
if (ptor1 < calsetval/3.3) {
tempcal = tempcal - calstep;
}
else {
tempcal = tempcal + calstep;
}
calstep = calstep/2;
}
if (tempcal < calib) calib = tempcal; //use the lowest of j calibration values
}
return calib;
}
//switches the IR LED on at the right brightness level for the beeholder
void IRledON(int i) {
irLED = sessionrecord[i].calvalue;
}
//moves arm1 to a position in a specified time, allowing speed control
void arm1move (float endpos, float movetime) {
float startpos = arm1.read();
int numsteps = (movetime * 50); //50 pulses/second, so each step is 1 servo pulse
for (int i=0; i<numsteps; i++) {
arm1 = startpos + i * (endpos - startpos)/numsteps;
wait(movetime/numsteps);
}
arm1 = endpos;
}
//moves arm2 to a position in a specified time, allowing speed control
void arm2move (float endpos, float movetime) {
float startpos = arm2.read();
int numsteps = (movetime * 50); //50 pulses/second, so each step is 1 servo pulse
for (int i=0; i<numsteps; i++) {
arm2 = startpos + i * (endpos - startpos)/numsteps;
wait(movetime/numsteps);
}
arm2 = endpos;
}
//moves elbow1 to a position in a specified time, allowing speed control
void elbow1move (float endpos, float movetime) {
float startpos = elbow1.read();
int numsteps = (movetime * 50); //50 pulses/second, so each step is 1 servo pulse
for (int i=0; i<numsteps; i++) {
elbow1 = startpos + i * (endpos - startpos)/numsteps;
wait(movetime/numsteps);
}
elbow1 = endpos;
}
//moves elbow2 to a position in a specified time, allowing speed control
void elbow2move (float endpos, float movetime) {
float startpos = elbow2.read();
int numsteps = (movetime * 50); //50 pulses/second, so each step is 1 servo pulse
for (int i=0; i<numsteps; i++) {
elbow2 = startpos + i * (endpos - startpos)/numsteps;
wait(movetime/numsteps);
}
elbow2 = endpos;
}
//Performs a conditioning cycle. if tickle==0, no tickling takes place. Return==1 if a PER has been detected
int condcycle(int station, int tickle) {
int perseen;
perseen = 0;
//for station 1
if (station == 1) {
//dip brush
arm1move(arm1dippos, 0.5);
elbow1move(elbow1dippos, 0.3);
wait(diptime);
elbow1move(elbow1basepos, 0.3);
arm1move(arm1basepos, 0.5);
//switch air to supply trace vapour
airswitcher = 1; //air contains target vapour
display.printf("Vapour ON");
wait (0.5);
//tickle
if (tickle) { //if tickling, first tickle then wait for PER or timeout
elbow1move(elbow1ticklepos, 0.2);
arm1move(arm1ticklepos, 1.5); //slower move of arm towards bee
perseen = detectPER(1, tickletimeout); //tickle until timeout or PER detected
}
//or not tickle
else {
perseen = detectPER(1, tickletimeout); //if not tickling, wait for PER or timeout then move to pre-feeding position
arm1move(arm1ticklepos-0.05, 1); //move to position between LED and holder
elbow1move(elbow1ticklepos, 0.3);
}
//feeding only if you have tickled or a PER has been detected
if (tickle || perseen) { //only feed if a PER has been detector, or "tickle" is true
elbow1move(elbow1feedpos, 0.3);
arm1move(arm1feedpos, 0.3);
wait(feedtime);
arm1move(arm1ticklepos -0.05, 0.3);
elbow1move(elbow1ticklepos, 0.3);
}
//move back to base position
arm1 = arm1basepos; //use fast move here
elbow1 = elbow1basepos; //use fast move here
airswitcher = 0; //air valve to clean air
display.printf("\e[DFF\r"); //rewrite "ON" to "OFF" on display
}
//for station 2
if (station == 2) {
//dip brush
arm2move(arm2dippos, 0.5);
elbow2move(elbow2dippos, 0.3);
wait(diptime);
elbow2move(elbow2basepos, 0.3);
arm2move(arm2basepos, 0.5);
//switch air to supply trace vapour
//airswitcher = 1; //no air switching for station 2
wait (0.5);
//tickle
if (tickle) { //if tickling, first tickle then wait for PER or timeout
elbow2move(elbow2ticklepos, 0.2);
arm2move(arm2ticklepos, 1.5); //slower move of arm towards bee
perseen = detectPER(1, tickletimeout); //tickle until timeout or PER detected
}
//or not tickle
else {
perseen = detectPER(1, tickletimeout); //if not tickling, wait for PER or timeout then move to pre-feeding position
arm2move(arm2ticklepos-0.05, 1); //move to position between LED and holder
elbow2move(elbow2ticklepos, 0.3);
}
//feeding only if you have tickled or a PER has been detected
if (tickle || perseen) { //only feed if a PER has been detector, or "tickle" is true
elbow2move(elbow2feedpos, 0.3);
arm2move(arm2feedpos, 0.3);
wait(feedtime);
arm2move(arm2ticklepos -0.05, 0.3);
elbow2move(elbow2ticklepos, 0.3);
}
//move back to base position
arm2 = arm2basepos;
elbow2 = elbow2basepos;
}
return perseen;
}
//User to input choice between station 1 and 2 for this session
int stationchoice() {
int station;
station = 1;
cleardisplay(); //clear screen and home cursor
display.printf(" Station selection ");
display.printf("Left=1 2=Right");
while (lesw && risw) { //lesw and risw become false when pressed!
wait(0.02);
if (!lesw) station=1; //on LEFT select station 1
if (!risw) station=2; //on RIGHT select station 2
}
display.printf("\rStation %1u selected", station);
fprintf(logfile, "%3u, station selected\r", station);
return station;
}
//Registers and calibrates all beeholders used in this session
int registerbeeholders() {
int i;
bool done;
char buffert[30];
i = done = 0;
cleardisplay(); //clear screen and home cursor
fprintf(logfile, "calibration record:\r");
fprintf(logfile, "i, serialno, LED V, time\r");
while (i<30 && !done) { //register and calibrate a maximum of 30 beeholders
display.printf("calibrating %u\r",i+1);
sessionrecord[i].serialno = getserialno(station); //read serial number
if (sessionrecord[i].serialno != 0) { //check if serial number correctly read - if not it will be 0000
sessionrecord[i].calvalue = calibrate(station, 5); //5 calibration cycles
if ((sessionrecord[i].calvalue > 0.25) && (sessionrecord[i].calvalue < 0.97)) { //check that calvalue is in expected range
sessionrecord[i].tstamp = time(NULL); //create timestamp NOW
strftime(buffert, 20, "%X", localtime(&sessionrecord[i].tstamp)); //formats time part of timestamp
cleardisplay();
display.printf("SN %4u - cal %4.2fV\r", sessionrecord[i].serialno, sessionrecord[i].calvalue*3.3);
display.printf("OK for next\r");
display.printf("DOWN for training");
fprintf(logfile, "%4u,%6u,%6.2f, %s, calibrate\r", i, sessionrecord[i].serialno, sessionrecord[i].calvalue*3.3, buffert);
i++;
}
else {
cleardisplay();
display.printf("SN %4u - cal %4.2fV\r", sessionrecord[i].serialno, sessionrecord[i].calvalue*3.3);
display.printf("Cal out of range!\r");
multibeeps(2,0.5);
display.printf("OK to recalibrate\r");
fprintf(logfile, "%4u,%6u,%6.2f, %s, out of range\r", i, sessionrecord[i].serialno, sessionrecord[i].calvalue*3.3, buffert);
}
while (!done && oksw) { //loop until OK or DOWN are pressed
wait(0.02);
done = !dnsw; //DOWN exits registration cycle and moves to training
}
}
else { //retry when serialno can't be read (is 0000)
cleardisplay();
multibeeps(3,0.3); //beep-beep-beep when beeholder not correctly read
display.printf("invalid serial no\r");
display.printf("reseat beeholder\r");
display.printf("press OK");
while (oksw) wait(0.02); //loop until OK is pressed to start calibration loop again
}
cleardisplay();
}
return i; //upon done condition, i== number of beeholders calibrated
}
//gets holderrecord for the holder with a certain serial number
int getholderindex(int serialno) {
for (int i=0; i<numbeeholders; i++) { //reverse lookup of index for a certain serial number
if (sessionrecord[i].serialno == serialno) return i;
}
return 29; //if the record is not found, returns i==29
}
//all the elements making up a single training cycle with one beeholder
void trainingcycle() {
wait(0.2);
time_t tstamp = time(NULL); //create timestamp NOW
char buffert[30];
strftime(buffert, 20, "%X", localtime(&tstamp)); //format timestamp to time string
bool invalidserial;
invalidserial = 1;
int serialno;
serialno = 0;
while (invalidserial) { //loop until a serial number is read correctly
cleardisplay();
int serialno = getserialno(station); //read serial number
invalidserial = (serialno == 0); //if the serialno is 0, then it's invalid
if (invalidserial) {
display.printf("Invalid serialno\rReseat holder\rUP to retry");
while (upsw) wait(0.02); //loop until UP switch is pressed
}
}
int i = getholderindex(serialno); //get index i for serial number
IRledON(i); //switch IR LED on at correct brightness
sessionrecord[i].cycleno++; //increment cycle number for this beeholder
cleardisplay();
display.printf("SN: %4u, cycle %u\r", serialno, sessionrecord[i].cycleno);
sessionrecord[i].reslastcycle = condcycle(station, sessionrecord[i].ticklenextcycle); //do a conditioning cycle
fprintf(logfile, "%s,",buffert);
fprintf(logfile, " %4u,",serialno);
fprintf(logfile, " %2u,", sessionrecord[i].cycleno);
if (sessionrecord[i].reslastcycle) { //log PER or TimeOut
fprintf(logfile, " PER,");
}
else {
fprintf(logfile, " TO,");
}
fprintf(logfile, " training\r");
if (sessionrecord[i].reslastcycle) {
display.printf("PER detected\r");
}
else {
display.printf("PER time-out\r");
}
display.printf("mount holder + OK\r");
display.printf("DOWN to finish");
}
//main program
int main() {
initialise(); //initialise a new session
//Choose which station this session will use
station = stationchoice (); //menu to let user select station 1 or 2
cleardisplay();
//Choose substance string
substanceindex = subchoice(submenu); //menu to let use chose substance
fprintf(logfile, "%s\r", submenu[substanceindex].logstring); //prints the substance log string to the logfile
//Register and calibrate beeholders used in this session
display.printf("Now register holders\r");
display.printf("seat first holder\rpress OK\r");
while (oksw) wait(0.02); //loop so first beeholder can be mounted, then OK pressed
numbeeholders = registerbeeholders();
display.printf("%2u holders entered\r", numbeeholders);
wait(3);
cleardisplay();
//Conduct training
display.printf("Start training cycle\r");
display.printf("mount holder + OK\r");
display.printf("DOWN to finish");
fprintf(logfile, "Training started\r");
fprintf(logfile, "time, serial, cycleno, result\r");
wait(1);
InterruptIn oksw(p17); //redefine OK and footswitch as interrupts
oksw.mode(PullUp);
bool finishsession;
finishsession = 0;
oksw.fall(&trainingcycle); //call subroutine "trainingcycle" on OK/footswitch interrupt
while (!finishsession) { //loop while servicing interrupts
wait(0.02);
finishsession = !dnsw; //until DOWN button is pressed, which exits to program close
}
//Close logfile
fprintf(logfile, "session closed");
fclose(logfile); //close logfile for reading
cleardisplay();
display.printf("Session finished\r\rdownload etonlog.csvand rename");
}
Marc Bax