CEB Control Source Code/v5.15.10
//Notes: Orientation is defined by machine user //facing the control panel. 3 magnets (sensor actuators) are used //for main cylinder, 3 magnets for soil drawer, and 2 magnets are //are used for soil grate shaker. Copyright April 2010, Creative //Commons CC-BY-SA-compatible Open Source Ecology (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
//Complete code including simultaneous motion of 2 cylinders:
int val; //main cylinder int val2; //secondary cylinder int val3; //shaker int toggle1;//main cylinder toggle int toggle2;//secondary cylinder toggle unsigned long startcounter1; unsigned long counter1; unsigned long startcounter2; unsigned long counter2; unsigned long counter;
//0. Initialization.
void setup(){
Serial.begin(9600);
pinMode(19,INPUT);//Digital 19 is Analog 5.
pinMode(18,INPUT);//Digital 18 is Analog 4.
pinMode(17,INPUT);//Digital 17 is Analog 3.
pinMode(3,OUTPUT);//Pins 3 and 6 are up and down motion,
pinMode(6,OUTPUT);//respectively.
pinMode(9,OUTPUT);//Pins 9 and 10 are right and left,
pinMode(10,OUTPUT);//respectively.
pinMode(11,OUTPUT);//Hopper shaker motor.
counter1=0;
counter2=0;
counter=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);
//3=up //6=down //9=right //10=left //analog5=main cylinder //analog4=secondary cylinder
//1. Move main cylinder down 1/2 sec. digitalWrite(6,HIGH); delay(500); digitalWrite(6,LOW); //2. Move secondary cylinder left 1/2 sec. digitalWrite(10,HIGH); delay(500); digitalWrite(10,LOW); //3. Zero main cylinder. while (analogRead(5) < 500){
digitalWrite(6, HIGH);
} digitalWrite(6, LOW); //4. Zero secondary cylinder. while(analogRead(4) < 500){
digitalWrite(10, HIGH);
} digitalWrite(10, LOW); //5. Eject soil from chamber with main cylinder. (Go up to mid, //then go up to top.) while (analogRead(5) > 500){
digitalWrite(3, HIGH);
} while (analogRead(5) < 500){ } digitalWrite(3, LOW); //6. Push soil out of way with secondary cylinder by moving right //and stop in closed compression chamber position. while(analogRead(4)>500){
digitalWrite(9, HIGH);
} digitalWrite(9, LOW); //7. Initialize secondary cylinder. while(analogRead(4)<500){
digitalWrite(10, HIGH);
} digitalWrite(10, LOW); //8. Calibrate main cylinder (move from top to bottom and measure t) //Move down to -, measuring down motion time T1 startcounter1=millis(); digitalWrite(6, HIGH); while (analogRead(5)>500){} counter1=millis()-startcounter1; //7. Move down to +, measuring T2 startcounter2=millis(); while (analogRead(5)<500){} counter2=millis()-startcounter2; digitalWrite(6, LOW); //8. Add T1 and T2 to get total time of down travel. counter=counter1+counter2; //9. Move main cylinder to terminal position. while (analogRead(5)>500){
digitalWrite(3, HIGH);
} while (analogRead(5)<500){} digitalWrite(3, LOW);
//3. Wait 5 seconds. If stopped and not zeroed, cycle controller. delay(5000);
//At this point, secondary cylinder is in initial position and main //cylinder is in terminal position.
}//**************************** END OF INITIALIZATION
void loop(){
digitalWrite(9, HIGH); delay(200); digitalWrite(6, HIGH); toggle1=0; toggle2=0; //C2 motion from left to middle. while(analogRead(4)>500){
if (analogRead(5)<500){
toggle1=1;
}
if (toggle1=1 && analogRead(5)>500){
digitalWrite(6, LOW);
}
} //C2 motion from middle to right. while(analogRead(4)<500){
if (analogRead(5)<500){
toggle1=1;
}
if (toggle1=1 && analogRead(5)>500){
digitalWrite(6, LOW);
}
} //Stop C2. digitalWrite(9, LOW); //Complete down motion of C1. This allows for continuation of //motion. This works if motion is completed already.
for (int x=0; x<1 ; x=x+0){
if (analogRead(5)<500){
toggle1=1;
}
if (analogRead(5)>500 && toggle1==1){
break;
}
}
digitalWrite(6, LOW);//Stops C1. delay(200);//Last nuggets drop. Soil loading cycle complete.
//Close drawer by moving C2 left. while(analogRead(4)>500){
digitalWrite(10, HIGH);
} digitalWrite(10, LOW);
//Press. while (analogRead(5)>500){
digitalWrite(3, HIGH);
} digitalWrite(3, LOW);
//Release. digitalWrite(6, HIGH); delay(counter/32); digitalWrite(6, LOW);
//Open drawer by moving C2 left. while(analogRead(4)<500){
digitalWrite(10, HIGH);
} digitalWrite(10, LOW);
//Eject. while (analogRead(5)<500){
digitalWrite(3, HIGH);
} digitalWrite(3, LOW);
}//final loop closure. Insert non-formatted text here