washer.ld

LDmicro0.1
MICRO=Microchip PIC16F887 40-PDIP
CYCLE=20000
CRYSTAL=20000000
BAUD=2400
COMPILED=Z:\home\cyborgar\projects\washing-machine\compiled-ld\ladder.hex

IO LIST
    XDOOR_LOCKED at 19
    XLEVEL_FULL at 22
    XLEVEL_HALF at 21
    XOVERFLOW at 27
    XSTART at 28
    XWARM at 20
    YDOOR_LOCK at 33
    YHEATER at 34
    YINLET_VALVE at 35
    YPUMP at 36
    YSPIN at 37
    YTUMBLE_CCW at 8
    YTUMBLE_CW at 9
END

PROGRAM
RUNG
    COMMENT All inputs are complementary in this PLC. so invert them.
END
RUNG
    CONTACTS XDOOR_LOCKED 1
    COIL RXDOOR_LOCKED 0 0 0
END
RUNG
    CONTACTS XWARM 1
    COIL RXWARM 0 0 0
END
RUNG
    CONTACTS XLEVEL_HALF 1
    COIL RXLEVEL_HALF 0 0 0
END
RUNG
    CONTACTS XLEVEL_FULL 1
    COIL RXLEVEL_FULL 0 0 0
END
RUNG
    CONTACTS XOVERFLOW 1
    COIL RXOVERFLOW 0 0 0
END
RUNG
    CONTACTS XSTART 1
    COIL RXSTART 0 0 0
END
RUNG
    COMMENT Safety rung
END
RUNG
    CONTACTS RXOVERFLOW 1
    CONTACTS RXDOOR_LOCKED 0
    COIL RSAFE 0 0 0
END
RUNG
    COMMENT TODO: Replace this fixed logic with a program selector!
END
RUNG
    OPEN
    COIL RHALF_LOAD 0 0 0
END
RUNG
    OPEN
    COIL RSKIP_SPIN 0 0 0
END
RUNG
    CONTACTS RXSTART 0
    OSR
    PARALLEL
        MOVE CWASHES 1
        MOVE CRINSES 2
    END
END
RUNG
    PARALLEL
        CONTACTS RXSTART 0
        SERIES
            CONTACTS RRUNNING 0
            CONTACTS RSPIN_CYC_DONE 1
        END
    END
    COIL RRUNNING 0 0 0
END
RUNG
    COMMENT Wash cycle is the begining of the program (triggered by XSTART)
END
RUNG
    PARALLEL
        SERIES
            CONTACTS RWASH_CYC 0
            LEQ CWASHES 0
        END
        CONTACTS RWASH_CYC_DONE 0
    END
    COIL RWASH_CYC_DONE 0 0 0
END
RUNG
    CONTACTS RRUNNING 0
    CONTACTS RWASH_CYC_DONE 1
    COIL RWASH_CYC 0 0 0
END
RUNG
    COMMENT Rinse cycle, pretty much the same as the wash cycle
END
RUNG
    PARALLEL
        SERIES
            CONTACTS RRINSE_CYC 0
            LEQ CRINSES 0
        END
        CONTACTS RRINSE_CYC_DONE 0
    END
    COIL RRINSE_CYC_DONE 0 0 0
END
RUNG
    CONTACTS RWASH_CYC_DONE 0
    CONTACTS RRINSE_CYC_DONE 1
    COIL RRINSE_CYC 0 0 0
END
RUNG
    COMMENT Spin cycle, just spin the basket for 8 minutes.
END
RUNG
    PARALLEL
        SERIES
            CONTACTS RSPIN_CYC 0
            TON TSPIN_TIME 480000000
        END
        CONTACTS RSPIN_CYC_DONE 0
        SERIES
            CONTACTS RRINSE_CYC_DONE 0
            CONTACTS RSKIP_SPIN 0
        END
    END
    COIL RSPIN_CYC_DONE 0 0 0
END
RUNG
    CONTACTS RRINSE_CYC_DONE 0
    CONTACTS RSPIN_CYC_DONE 1
    COIL RSPIN_CYC 0 0 0
END
RUNG
    COMMENT Cycle step logic, when all phases are completed
END
RUNG
    CONTACTS RFILL_PH_DONE 0
    CONTACTS RTUMBLE_PH_DONE 0
    CONTACTS RDRAIN_PH_DONE 0
    PARALLEL
        COIL RCYCLE_START 0 0 0
        SERIES
            CONTACTS RWASH_CYC 0
            CTD CWASHES 0
        END
        SERIES
            CONTACTS RRINSE_CYC 0
            CTD CRINSES 0
        END
    END
END
RUNG
    COMMENT Fill phase, open the valve until the tub gets filled enough.\r\nIt's the beginning of a wash or rinse cycle.
END
RUNG
    PARALLEL
        SERIES
            CONTACTS RFILL_PH 0
            PARALLEL
                SERIES
                    CONTACTS RHALF_LOAD 0
                    CONTACTS RXLEVEL_HALF 0
                END
                CONTACTS RXLEVEL_FULL 0
            END
        END
        SERIES
            CONTACTS RFILL_PH_DONE 0
            CONTACTS RCYCLE_START 1
        END
    END
    COIL RFILL_PH_DONE 0 0 0
END
RUNG
    PARALLEL
        CONTACTS RWASH_CYC 0
        CONTACTS RRINSE_CYC 0
    END
    CONTACTS RFILL_PH_DONE 1
    COIL RFILL_PH 0 0 0
END
RUNG
    COMMENT Fill phase alarm to prevent overflow/coil burnout\r\n
END
RUNG
    CONTACTS RFILL_PH 0
    TON TFILL_ALM_TIME 400000000
    COIL RFILL_ALM 0 0 0
END
RUNG
    COMMENT Tumble phase, do a predefined number of tumbles.\r\nAlways comes after a fill phase.
END
RUNG
    PARALLEL
        SERIES
            CONTACTS RTUMBLE_PH 0
            LEQ CTUMBLES 0
        END
        SERIES
            CONTACTS RTUMBLE_PH_DONE 0
            CONTACTS RCYCLE_START 1
        END
    END
    COIL RTUMBLE_PH_DONE 0 0 0
END
RUNG
    CONTACTS RFILL_PH_DONE 0
    CONTACTS RTUMBLE_PH_DONE 1
    PARALLEL
        COIL RTUMBLE_PH 0 0 0
        SERIES
            OSR
            PARALLEL
                SERIES
                    CONTACTS RWASH_CYC 0
                    LOOK_UP_TABLE CTUMBLES CWASHES 4 0 0 64 6 6
                END
                SERIES
                    CONTACTS RRINSE_CYC 0
                    LOOK_UP_TABLE CTUMBLES CRINSES 3 0 0 6 32
                END
            END
        END
    END
END
RUNG
    PARALLEL
        SERIES
            CONTACTS RDRAIN_PH 0
            CONTACTS RXLEVEL_HALF 1
            TON TDRAIN_DELAY 20000000
        END
        SERIES
            CONTACTS RDRAIN_PH_DONE 0
            CONTACTS RCYCLE_START 1
        END
    END
    COIL RDRAIN_PH_DONE 0 0 0
END
RUNG
    CONTACTS RTUMBLE_PH_DONE 0
    CONTACTS RDRAIN_PH_DONE 1
    COIL RDRAIN_PH 0 0 0
END
RUNG
    COMMENT Actual hardware control
END
RUNG
    CONTACTS RRUNNING 0
    COIL YDOOR_LOCK 0 0 0
END
RUNG
    CONTACTS RSAFE 0
    CONTACTS RFILL_PH 0
    CONTACTS RFILL_ALM 0
    COIL YINLET_VALVE 0 0 0
END
RUNG
    CONTACTS RSAFE 0
    PARALLEL
        CONTACTS RTUMBLE_PH 0
        CONTACTS RDRAIN_PH 0
    END
    CONTACTS YTUMBLE_CCW 1
    TON TCW_DELAY 5000000
    PARALLEL
        SERIES
            CONTACTS RCW_TIMEOUT 1
            COIL YTUMBLE_CW 0 0 0
        END
        SERIES
            TON TCW_TIME 10000000
            COIL RCW_TIMEOUT 0 0 0
        END
    END
END
RUNG
    CONTACTS RSAFE 0
    PARALLEL
        CONTACTS RTUMBLE_PH 0
        CONTACTS RDRAIN_PH 0
    END
    PARALLEL
        CONTACTS RCW_TIMEOUT 0
        CONTACTS YTUMBLE_CCW 0
    END
    TON TCCW_DELAY 5000000
    PARALLEL
        SERIES
            CONTACTS RCCW_TIMEOUT 1
            COIL YTUMBLE_CCW 0 0 0
        END
        SERIES
            TON TCCW_TIME 10000000
            PARALLEL
                COIL RCCW_TIMEOUT 0 0 0
                SERIES
                    CONTACTS RTUMBLE_PH 0
                    CTD CTUMBLES 0
                END
            END
        END
    END
END
RUNG
    CONTACTS RSAFE 0
    CONTACTS RSPIN_CYC 0
    CONTACTS YTUMBLE_CW 1
    CONTACTS YTUMBLE_CCW 1
    COIL YSPIN 0 0 0
END
RUNG
    CONTACTS RSAFE 0
    PARALLEL
        CONTACTS RDRAIN_PH 0
        CONTACTS RSPIN_CYC 0
    END
    COIL YPUMP 0 0 0
END
RUNG
    CONTACTS RSAFE 0
    OPEN
    COIL YHEATER 0 0 0
END