Siddharth Dhingra / Mbed 2 deprecated BarBot

This is an MBED controlled liquid dispensing robot. With applications in bars.

Dependencies:   EthernetInterface WebSocketClient mbed-rtos mbed

main.cpp@0:4dcc14de1899, 2014-12-09 (annotated)

Committer:
sdhingra
Date:
Tue Dec 09 00:10:29 2014 +0000
Revision:
0:4dcc14de1899
Initial Commit - BarBot

Who changed what in which revision?

UserRevisionLine numberNew contents of line
sdhingra 0:4dcc14de1899 1 #include "mbed.h"
sdhingra 0:4dcc14de1899 2 #include "EthernetInterface.h"
sdhingra 0:4dcc14de1899 3 #include "Websocket.h"
sdhingra 0:4dcc14de1899 4 #include "stdio.h"
sdhingra 0:4dcc14de1899 5 #include "string.h"
sdhingra 0:4dcc14de1899 6
sdhingra 0:4dcc14de1899 7 //Used to Log to the PC
sdhingra 0:4dcc14de1899 8 Serial pc(USBTX,USBRX);
sdhingra 0:4dcc14de1899 9
sdhingra 0:4dcc14de1899 10 //Input Pin for the Paddle Wheel Flow Meter
sdhingra 0:4dcc14de1899 11 DigitalIn pulse(p8);
sdhingra 0:4dcc14de1899 12
sdhingra 0:4dcc14de1899 13 // Pin Outs for Solenoids
sdhingra 0:4dcc14de1899 14 DigitalOut Ctrl(p9);
sdhingra 0:4dcc14de1899 15 DigitalOut Ctrl2(p10);
sdhingra 0:4dcc14de1899 16
sdhingra 0:4dcc14de1899 17 //
sdhingra 0:4dcc14de1899 18 #define PULSE_VOL 4.50 // More flow due to angle of paddle wheel Pour 1
sdhingra 0:4dcc14de1899 19 #define PULSE_VOL2 6.75 // Less flow due to angle of paddle wheel Pour 2
sdhingra 0:4dcc14de1899 20
sdhingra 0:4dcc14de1899 21 //Function Declarations
sdhingra 0:4dcc14de1899 22 void pourOne(float milliliters);
sdhingra 0:4dcc14de1899 23 void pourTwo(float milliliters);
sdhingra 0:4dcc14de1899 24
sdhingra 0:4dcc14de1899 25 /*
sdhingra 0:4dcc14de1899 26 The main function opens a web socket client and listens for a preset series
sdhingra 0:4dcc14de1899 27 of recipies. If one is found, it calls functions to pour liquid.
sdhingra 0:4dcc14de1899 28 */
sdhingra 0:4dcc14de1899 29 int main() {
sdhingra 0:4dcc14de1899 30 pc.printf("Starting BarBot!\r\n");
sdhingra 0:4dcc14de1899 31
sdhingra 0:4dcc14de1899 32 // Close Both Solenoids
sdhingra 0:4dcc14de1899 33 Ctrl = 0;
sdhingra 0:4dcc14de1899 34 Ctrl2 = 0;
sdhingra 0:4dcc14de1899 35
sdhingra 0:4dcc14de1899 36 // Receive Buffer
sdhingra 0:4dcc14de1899 37 char recv[30];
sdhingra 0:4dcc14de1899 38 char recipe[] = "Rum & Coke";
sdhingra 0:4dcc14de1899 39 char recipe2[] = "Whiskey Ginger";
sdhingra 0:4dcc14de1899 40 char recipe3[] = "Whiskey Neat";
sdhingra 0:4dcc14de1899 41
sdhingra 0:4dcc14de1899 42 // Ethernet Interfacing
sdhingra 0:4dcc14de1899 43 EthernetInterface eth;
sdhingra 0:4dcc14de1899 44 eth.init(); //Use DHCP
sdhingra 0:4dcc14de1899 45 eth.connect();
sdhingra 0:4dcc14de1899 46 pc.printf("IP Address is %s\n\r", eth.getIPAddress());
sdhingra 0:4dcc14de1899 47
sdhingra 0:4dcc14de1899 48 // Open a Websocket
sdhingra 0:4dcc14de1899 49 Websocket ws("ws://sockets.mbed.org:443/ws/sid/ro"); //This Websocket server is provided by MBED for prototyping
sdhingra 0:4dcc14de1899 50 ws.connect();
sdhingra 0:4dcc14de1899 51
sdhingra 0:4dcc14de1899 52 // Wait to receive an order from websocket
sdhingra 0:4dcc14de1899 53 while (1) {
sdhingra 0:4dcc14de1899 54
sdhingra 0:4dcc14de1899 55 if(ws.read(recv)) {
sdhingra 0:4dcc14de1899 56 pc.printf("%s\r\n", recv);
sdhingra 0:4dcc14de1899 57
sdhingra 0:4dcc14de1899 58 // Recipe based process
sdhingra 0:4dcc14de1899 59 if(strcmp(recv, recipe) == 0) {
sdhingra 0:4dcc14de1899 60 pourOne(132);
sdhingra 0:4dcc14de1899 61 pourTwo(44);
sdhingra 0:4dcc14de1899 62 }
sdhingra 0:4dcc14de1899 63 else if(strcmp(recv, recipe2) == 0) {
sdhingra 0:4dcc14de1899 64 pourOne(0);
sdhingra 0:4dcc14de1899 65 pourTwo(88);
sdhingra 0:4dcc14de1899 66 }
sdhingra 0:4dcc14de1899 67 else if(strcmp(recv, recipe3) == 0) {
sdhingra 0:4dcc14de1899 68 pourOne(88);
sdhingra 0:4dcc14de1899 69 pourTwo(0);
sdhingra 0:4dcc14de1899 70 }
sdhingra 0:4dcc14de1899 71 }
sdhingra 0:4dcc14de1899 72
sdhingra 0:4dcc14de1899 73 wait(1.0);
sdhingra 0:4dcc14de1899 74 }
sdhingra 0:4dcc14de1899 75
sdhingra 0:4dcc14de1899 76 }
sdhingra 0:4dcc14de1899 77
sdhingra 0:4dcc14de1899 78 void pourOne(float milliliters) {
sdhingra 0:4dcc14de1899 79
sdhingra 0:4dcc14de1899 80 pc.printf("Pour One\r\n");
sdhingra 0:4dcc14de1899 81
sdhingra 0:4dcc14de1899 82 //pouring an empty amount (neat drinks)
sdhingra 0:4dcc14de1899 83 if(milliliters <= 0) {
sdhingra 0:4dcc14de1899 84 return;
sdhingra 0:4dcc14de1899 85 }
sdhingra 0:4dcc14de1899 86
sdhingra 0:4dcc14de1899 87 int pulses = 0;
sdhingra 0:4dcc14de1899 88 bool lastPulse = pulse;
sdhingra 0:4dcc14de1899 89 bool thisPulse;
sdhingra 0:4dcc14de1899 90 float volume = 0;
sdhingra 0:4dcc14de1899 91
sdhingra 0:4dcc14de1899 92 //open solenoid one
sdhingra 0:4dcc14de1899 93 Ctrl = 1;
sdhingra 0:4dcc14de1899 94
sdhingra 0:4dcc14de1899 95 while(volume < milliliters) {
sdhingra 0:4dcc14de1899 96 thisPulse = pulse;
sdhingra 0:4dcc14de1899 97
sdhingra 0:4dcc14de1899 98 //check to see if pulse has changed since the last time
sdhingra 0:4dcc14de1899 99 if(thisPulse != lastPulse) {
sdhingra 0:4dcc14de1899 100 pulses += 1;
sdhingra 0:4dcc14de1899 101 }
sdhingra 0:4dcc14de1899 102 lastPulse = thisPulse;
sdhingra 0:4dcc14de1899 103
sdhingra 0:4dcc14de1899 104 //increase the volume
sdhingra 0:4dcc14de1899 105 volume = pulses * PULSE_VOL;
sdhingra 0:4dcc14de1899 106
sdhingra 0:4dcc14de1899 107 pc.printf("Poured %f From First Bottle\r\n", volume);
sdhingra 0:4dcc14de1899 108 }
sdhingra 0:4dcc14de1899 109
sdhingra 0:4dcc14de1899 110
sdhingra 0:4dcc14de1899 111 //close solenoid one
sdhingra 0:4dcc14de1899 112 Ctrl = 0;
sdhingra 0:4dcc14de1899 113 }
sdhingra 0:4dcc14de1899 114
sdhingra 0:4dcc14de1899 115 void pourTwo(float milliliters) {
sdhingra 0:4dcc14de1899 116
sdhingra 0:4dcc14de1899 117 pc.printf("Pour Two\r\n");
sdhingra 0:4dcc14de1899 118
sdhingra 0:4dcc14de1899 119 //pouring an empty amount (neat drinks)
sdhingra 0:4dcc14de1899 120 if(milliliters <= 0) {
sdhingra 0:4dcc14de1899 121 return;
sdhingra 0:4dcc14de1899 122 }
sdhingra 0:4dcc14de1899 123
sdhingra 0:4dcc14de1899 124 int pulses = 0;
sdhingra 0:4dcc14de1899 125 bool lastPulse = pulse;
sdhingra 0:4dcc14de1899 126 bool thisPulse;
sdhingra 0:4dcc14de1899 127 float volume = 0;
sdhingra 0:4dcc14de1899 128
sdhingra 0:4dcc14de1899 129 //open solenoid two
sdhingra 0:4dcc14de1899 130 Ctrl2 = 1;
sdhingra 0:4dcc14de1899 131
sdhingra 0:4dcc14de1899 132 while(volume < milliliters) {
sdhingra 0:4dcc14de1899 133 thisPulse = pulse;
sdhingra 0:4dcc14de1899 134
sdhingra 0:4dcc14de1899 135 //check to see if pulse has changed since last time
sdhingra 0:4dcc14de1899 136 if(thisPulse != lastPulse) {
sdhingra 0:4dcc14de1899 137 pulses += 1;
sdhingra 0:4dcc14de1899 138 }
sdhingra 0:4dcc14de1899 139
sdhingra 0:4dcc14de1899 140 lastPulse = thisPulse;
sdhingra 0:4dcc14de1899 141
sdhingra 0:4dcc14de1899 142 //increase the volume
sdhingra 0:4dcc14de1899 143 volume = pulses * PULSE_VOL2;
sdhingra 0:4dcc14de1899 144
sdhingra 0:4dcc14de1899 145 pc.printf("Poured %f From Second Bottle\r\n", volume);
sdhingra 0:4dcc14de1899 146 }
sdhingra 0:4dcc14de1899 147
sdhingra 0:4dcc14de1899 148 //close solenoid two
sdhingra 0:4dcc14de1899 149 Ctrl2 = 0;
sdhingra 0:4dcc14de1899 150 }