CEB Control Code

Introduction

The latest code as of 4.22.10 is;

//Notes: In every WHILE loop, shut off solenoids explicitly after //escaping from the loop. Orientation is defined by machine user //facing the control panel. 2 magnets (sensor actuators) are used //for main cylinder, 4 magnets for soil drawer, and 2 magnets are //are used for soil grate shaker. Copyright April 2010, Creative //Commons CC-BY-SA-compatible OSE License, by Marcin Jakubowski, //Ph.D., for OSE. This code and other documentation is available //at the Open+Pario project management site under the CEB Project, //under Documents - Liberator Beta 2.0 Control Code, //http://openpario.net/projects/OSE?

Code - Liberator Beta v2.0

//Notes: In every WHILE loop, shut off solenoids explicitly after //escaping from the loop. Orientation is defined by machine user //facing the control panel. 2 magnets (sensor actuators) are used //for main cylinder, 4 magnets for soil drawer, and 2 magnets are //are used for soil grate shaker. Copyright April 2010, Creative //Commons CC-BY-SA-compatible OSE License, by Marcin Jakubowski, //Ph.D., for OSE. This code and other documentation is available //at the Open+Pario project management site under the CEB Project, //under Documents - Liberator Beta 2.0 Control Code, //http://openpario.net/projects/OSE?

int val; int val2; unsigned long startcounter; unsigned long counter; unsigned long startcounter2; unsigned long counter2;

//0. Initialization.

void setup(){

 Serial.begin(9600);
 pinMode(19,INPUT);//Digital 19 is Analog 5.
 pinMode(18,INPUT);//Digital 18 is Analog 4.
 pinMode(3,OUTPUT);//Pins 3 and 5 are up and down motion,
 pinMode(6,OUTPUT);//respectively.
 pinMode(9,OUTPUT);//Pins 9 and 10 are right and left.
 pinMode(10,OUTPUT);
 counter=0;
 counter2=0;
 val=analogRead(5);//Read the sensor.\
 val2=analogRead(4);
 Serial.println("Main cylinder state:");
 Serial.println(val);
 Serial.println("Drawer cylinder state:");
 Serial.println(val2);

//1. Move big cylinder down all way to identify bottom point (+).

while (val<500){

 digitalWrite(3, LOW);//Move main cylinder down.
 digitalWrite(6, HIGH);//Control solenoids in pairs to keep track.
 val=analogRead(5);
 Serial.println("moving down");
 Serial.println(val);

// delay(500); }

 digitalWrite(3, LOW);//Turn solenoids off.
 digitalWrite(6, LOW);
 

Serial.println("Waiting for approval..."); // delay(4000);

//2. Move drawer left - all way to brick ejection position.

 val2=analogRead(4);
 Serial.println("Drawer State reading:");
 Serial.println(val2);

// Serial.println("Waiting 5 seconds for next step..."); // delay(5000);

 while(val2 < 500){
   digitalWrite(9, LOW);//Move left.
   digitalWrite(10, HIGH);//Solenoids are controlled in pairs.
   val2=analogRead(4);
   Serial.println("Moving left");
   Serial.println(val2);
   //Need to keep reading state of sensor.
   };//stop upon reaching left (magnet at LEFT induces + state)
 
 digitalWrite(9, LOW);
 digitalWrite(10, LOW);
 val2=analogRead(4);
 Serial.println("Finished left. Drawer state:");
 Serial.println(val2);

// Serial.println("WAITING FOR APPROVAL..."); // delay(4000);

//3. Calibrate main cylinder/eject.

 val=analogRead(5);
 startcounter=millis();

 while(val > 500){
   digitalWrite(3, HIGH);//Start upward motion.
   digitalWrite(6, LOW);
   Serial.println("Time during motion (ms):");
   Serial.println(millis()-startcounter);  
   val=analogRead(5); 

   };
   digitalWrite(3, LOW);//stop motion
   digitalWrite(6, LOW);
   counter=millis()-startcounter;
   Serial.println("Time after leaving loop:");
   Serial.println(counter);
   val=analogRead(5);
   Serial.println("Finished calibrations. Main cylinder state:");
   Serial.println(val);
   Serial.println("Waiting for approval.");
//   delay(40000);

//4. Calibrate drawer

 val=analogRead(4);
 startcounter2=millis();

 while(val2 > 500){
   digitalWrite(9, HIGH);//Start upward motion.
   digitalWrite(10, LOW);
   Serial.println("Time during motion (ms):");
   Serial.println(millis()-startcounter2);  
   val2=analogRead(4); 

   };

// digitalWrite(9, LOW);//stop motion // digitalWrite(10, LOW);

   counter2=millis()-startcounter2;
   Serial.println("Time after leaving loop:");
   Serial.println(counter2);
   val=analogRead(4);
   Serial.println("Finished calibration 2. Drawer cylinder state:");
   Serial.println(val2);

//5. Continue moving for the calibrated duration // digitalWrite(9, HIGH); // digitalWrite(10, LOW);

 delay(counter2);
 digitalWrite(9, LOW);
 digitalWrite(10, LOW);
   Serial.println("Moved into soil loading position.");
  

} //**************************** END OF INITIALIZATION

void loop(){

//8. Lower main cylinder.

 val=analogRead(5);
 Serial.println("Main cylinder state:");
 Serial.println(val);
 while(val < 500){;//Sensor is low at start.
   digitalWrite(3, LOW);//Move main cylinder down.
   digitalWrite(6, HIGH);//Control solenoids in pairs to keep track.
   val=analogRead(5);
   Serial.println("moving down");
   Serial.println(val);
   };//stop upon reaching bottom (magnet at bottom induces high state)
 digitalWrite(3,LOW);
 digitalWrite(6,LOW);
 

//9. Close compression chamber. Needs timing.

   digitalWrite(9, LOW);//Move left.
   digitalWrite(10, HIGH);//Solenoids are controlled in pairs.
       Serial.println("Moving left");
   delay(counter2*.84);//.75 is the exact factor
   
   digitalWrite(9, LOW);//Stopping by timing only.
   digitalWrite(10, LOW);

   Serial.println("Finished left. Drawer state:");
 Serial.println(val2);

//10. Begin pressing cycle with main cylinder, and then release // pressure by moving 1/2 sec down.

 digitalWrite(3, HIGH);// Start cycle, and time motion.
 digitalWrite(6, LOW);// Start from bottom cylinder position.
 delay (counter/2);//Go up half way. Time counted in milliseconds.
 Serial.println("PRESSING...UP TO TIME OF (ms):");
 Serial.println(counter/2);
 digitalWrite(3, LOW);//  Stop motion.
 digitalWrite(6, LOW);
 val=analogRead(5);
 Serial.println("Main cylinder State:");
 Serial.println(val);

//****************************************************** RELEASE CYCLE

 digitalWrite(3, LOW);//Release, by time.
 digitalWrite(6, HIGH);//
 delay (counter/100);
 Serial.println("Releasing...");  
 digitalWrite(3, LOW);//  Stop motion.
 digitalWrite(6, LOW);
 val=analogRead(5);
 Serial.println("State:");
 Serial.println(val);
 

//11. Open compression chamber by moving drawer left.

 val2=analogRead(4);
 Serial.println("Drawer State reading:");
 Serial.println(val2);

// Serial.println("Waiting 5 seconds for next step..."); // delay(5000);

 while(val2 < 500){
   digitalWrite(9, LOW);//Move left.
   digitalWrite(10, HIGH);//Solenoids are controlled in pairs.
   val2=analogRead(4);
   Serial.println("Moving left");
   Serial.println(val2);
   //Need to keep reading state of sensor.
   };//stop upon reaching left (magnet at LEFT induces + state)
 
 digitalWrite(9, LOW);
 digitalWrite(10, LOW);
 val2=analogRead(4);
 Serial.println("Finished left. Drawer state:");
 Serial.println(val2);
 

//12. Push brick up.

 val=analogRead(5);
 while (val > 500){;//Complete motion up to sensor.
   digitalWrite(3, HIGH);//Complete up motion.
   digitalWrite(6, LOW); 
   val=analogRead(5);
   Serial.println("Pushing brick up...");  
   Serial.println("Main cylinder State:");
   Serial.println(val);  
 }
 
 digitalWrite(3, LOW);
 digitalWrite(6, LOW);

//13. Eject brick from machine by moving drawer to the right.

 val=analogRead(4);
 startcounter2=millis();

 while(val2 > 500){
   digitalWrite(9, HIGH);//Start upward motion.
   digitalWrite(10, LOW);
   Serial.println("Time during motion (ms):");
   Serial.println(millis()-startcounter2);  
   val2=analogRead(4); 

   };

// digitalWrite(9, LOW);//stop motion // digitalWrite(10, LOW);

   counter2=millis()-startcounter2;
   Serial.println("Time after leaving loop:");
   Serial.println(counter2);
   val=analogRead(4);
   Serial.println("Finished calibration 2. Drawer cylinder state:");
   Serial.println(val2);

//14. Continue moving for the calibrated duration (into loading pos.) // digitalWrite(9, HIGH); // digitalWrite(10, LOW);

 delay(counter2);
 digitalWrite(9, LOW);
 digitalWrite(10, LOW);
   Serial.println("Moved into soil loading position.");

};