CEB Press/Manufacturing Instructions/Controller Box/Source Code/v5.15.10

• Code from 2010

//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.