Siddharth Dhingra
This is an MBED controlled liquid dispensing robot. With applications in bars.
Dependencies: EthernetInterface WebSocketClient mbed-rtos mbed
Revision 0:4dcc14de1899, committed 2014-12-09
- Comitter:
- sdhingra
- Date:
- Tue Dec 09 00:10:29 2014 +0000
- Commit message:
- Initial Commit - BarBot
Changed in this revision
diff -r 000000000000 -r 4dcc14de1899 EthernetInterface.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/EthernetInterface.lib Tue Dec 09 00:10:29 2014 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/EthernetInterface/#de796e2a5e98
diff -r 000000000000 -r 4dcc14de1899 WebSocketClient.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/WebSocketClient.lib Tue Dec 09 00:10:29 2014 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/samux/code/WebSocketClient/#466f90b7849a
diff -r 000000000000 -r 4dcc14de1899 main.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Tue Dec 09 00:10:29 2014 +0000
@@ -0,0 +1,150 @@
+#include "mbed.h"
+#include "EthernetInterface.h"
+#include "Websocket.h"
+#include "stdio.h"
+#include "string.h"
+
+//Used to Log to the PC
+Serial pc(USBTX,USBRX);
+
+//Input Pin for the Paddle Wheel Flow Meter
+DigitalIn pulse(p8);
+
+// Pin Outs for Solenoids
+DigitalOut Ctrl(p9);
+DigitalOut Ctrl2(p10);
+
+//
+#define PULSE_VOL 4.50 // More flow due to angle of paddle wheel Pour 1
+#define PULSE_VOL2 6.75 // Less flow due to angle of paddle wheel Pour 2
+
+//Function Declarations
+void pourOne(float milliliters);
+void pourTwo(float milliliters);
+
+/*
+ The main function opens a web socket client and listens for a preset series
+ of recipies. If one is found, it calls functions to pour liquid.
+*/
+int main() {
+ pc.printf("Starting BarBot!\r\n");
+
+ // Close Both Solenoids
+ Ctrl = 0;
+ Ctrl2 = 0;
+
+ // Receive Buffer
+ char recv[30];
+ char recipe[] = "Rum & Coke";
+ char recipe2[] = "Whiskey Ginger";
+ char recipe3[] = "Whiskey Neat";
+
+ // Ethernet Interfacing
+ EthernetInterface eth;
+ eth.init(); //Use DHCP
+ eth.connect();
+ pc.printf("IP Address is %s\n\r", eth.getIPAddress());
+
+ // Open a Websocket
+ Websocket ws("ws://sockets.mbed.org:443/ws/sid/ro"); //This Websocket server is provided by MBED for prototyping
+ ws.connect();
+
+ // Wait to receive an order from websocket
+ while (1) {
+
+ if(ws.read(recv)) {
+ pc.printf("%s\r\n", recv);
+
+ // Recipe based process
+ if(strcmp(recv, recipe) == 0) {
+ pourOne(132);
+ pourTwo(44);
+ }
+ else if(strcmp(recv, recipe2) == 0) {
+ pourOne(0);
+ pourTwo(88);
+ }
+ else if(strcmp(recv, recipe3) == 0) {
+ pourOne(88);
+ pourTwo(0);
+ }
+ }
+
+ wait(1.0);
+ }
+
+}
+
+void pourOne(float milliliters) {
+
+ pc.printf("Pour One\r\n");
+
+ //pouring an empty amount (neat drinks)
+ if(milliliters <= 0) {
+ return;
+ }
+
+ int pulses = 0;
+ bool lastPulse = pulse;
+ bool thisPulse;
+ float volume = 0;
+
+ //open solenoid one
+ Ctrl = 1;
+
+ while(volume < milliliters) {
+ thisPulse = pulse;
+
+ //check to see if pulse has changed since the last time
+ if(thisPulse != lastPulse) {
+ pulses += 1;
+ }
+ lastPulse = thisPulse;
+
+ //increase the volume
+ volume = pulses * PULSE_VOL;
+
+ pc.printf("Poured %f From First Bottle\r\n", volume);
+ }
+
+
+ //close solenoid one
+ Ctrl = 0;
+}
+
+void pourTwo(float milliliters) {
+
+ pc.printf("Pour Two\r\n");
+
+ //pouring an empty amount (neat drinks)
+ if(milliliters <= 0) {
+ return;
+ }
+
+ int pulses = 0;
+ bool lastPulse = pulse;
+ bool thisPulse;
+ float volume = 0;
+
+ //open solenoid two
+ Ctrl2 = 1;
+
+ while(volume < milliliters) {
+ thisPulse = pulse;
+
+ //check to see if pulse has changed since last time
+ if(thisPulse != lastPulse) {
+ pulses += 1;
+ }
+
+ lastPulse = thisPulse;
+
+ //increase the volume
+ volume = pulses * PULSE_VOL2;
+
+ pc.printf("Poured %f From Second Bottle\r\n", volume);
+ }
+
+ //close solenoid two
+ Ctrl2 = 0;
+}
\ No newline at end of file
diff -r 000000000000 -r 4dcc14de1899 mbed-rtos.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed-rtos.lib Tue Dec 09 00:10:29 2014 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed-rtos/#f1ef95efa5ad
diff -r 000000000000 -r 4dcc14de1899 mbed.bld --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Tue Dec 09 00:10:29 2014 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/4fc01daae5a5 \ No newline at end of file