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@onursenture
Created December 25, 2011 22:14
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MacQuick Prototype Demo Software
/* MacQuick Demo Software
created december 2011 ~revision 9: 2 may 2012 20:30
by vfood software engineering team
*/
//LCD D(12,11,5,4,3,2)
//Motors D(9,10,13)
//Main Motor Direction D(0)
//Keypad D(1,6,7,8)
//Dollar Analog
#define STEP_PIN HIGH
#include <LiquidCrystal.h>
LiquidCrystal lcd(12, 11, 5, 4, 3, 2);
int keypad_1 = 1;
int keypad_2 = 1;
int keypad_3 = 1;
int keypad_4 = 1;
int bill_validator = 0;
int ingredientCount = 0;
boolean ingredient1 = false;
boolean ingredient2 = false;
boolean gimmeFlag = false;
void setup(){
// keypad specifications
// keypad_1 = 1 --> ingredient 1 selection
// keypad_2 = 6 --> ingredient 2 selection
// keypad_3 = 7 --> give me my macaroni button
// keypad 4 = 8 --> clear button
pinMode(1, INPUT); // keypad input 1
pinMode(6, INPUT); // keypad input 2
pinMode(7, INPUT); // keypad input 3
pinMode(8, INPUT); // keypad input 4
pinMode(13, OUTPUT); // ingredient 2 motor output (step)
pinMode(10, OUTPUT); // ingredient 1 motor output (step)
pinMode(9, OUTPUT); // main motor driver output (step)
pinMode(0, OUTPUT); // main motor driver output (direction)
lcd.begin(20,4);
lcd.clear();
lcd.setCursor(0, 0);
}
void loop(){
lcd.clear();
lcd.setCursor(0,0);
lcd.print("MacQuick is ready to serve!");
take_inputs();
fill_ingredients(ingredient1, ingredient2);
ingredient1 = false;
ingredient2 = false;
lcd.clear();
lcd.setCursor(0, 0);
lcd.print("Your pasta is ready! Bon Appetit!");
delay(3000);
}
void take_inputs(){
bill_validator = analogRead(A0);
// bill validation control: wait until dolar signal comes
while(bill_validator >700) //ÇALIŞMASI İÇİN OLMASI GEREKENİN TAM TESİNE ÇEVİRDİM
{
keypad_1 = digitalRead(1);
keypad_2 = digitalRead(6);
keypad_3 = digitalRead(7);
if(keypad_1 == 0 || keypad_2 == 0 || keypad_3 == 0){
delay(1000); // will be deleted
lcd.clear();
lcd.setCursor(0,0);
lcd.print("Not sufficient money. "); // spaces are necessary. do not delete.
lcd.setCursor(0,0);
keypad_1 = 1;
keypad_2 = 1;
keypad_3 = 1;
delay(1500);
lcd.clear();
lcd.setCursor(0,0);
lcd.print("MacQuick is ready to serve!");
}
keypad_1 = 1;
keypad_2 = 1;
keypad_3 = 1;
bill_validator = analogRead(A0);
}
// bill validation reset
bill_validator = analogRead(A0);
lcd.clear();
lcd.setCursor(0, 0);
ingredientCount = 0;
// wait until give my pasta button has pressed or two ingredient selected
while(gimmeFlag==false){
keypad_1 = 1;
keypad_2 = 1;
keypad_3 = 1;
keypad_4 = 1;
lcd.clear();
lcd.setCursor(0,0);
lcd.print("Choose ingredients.");
//wait while there is no input from ingredient and gimme buttons
while (keypad_1 == 1 && keypad_2 == 1 && keypad_3 == 1 && keypad_4 == 1){
keypad_1 = digitalRead(1);
keypad_2 = digitalRead(6);
keypad_3 = digitalRead(7);
keypad_4 = digitalRead(8);
} //exit the wait loop when the input has come
//ingredient 1 button pressed
if(keypad_1 == 0){
gimmeFlag = false;
ingredient1 = true;
ingredientCount++;
lcd.clear();
lcd.setCursor(0,0);
lcd.print("OK! ingred 1");
delay(1000);
}
//ingredient 2 button pressed
else if(keypad_2 == 0){
gimmeFlag = false;
ingredient2= true;
ingredientCount++;
lcd.clear();
lcd.setCursor(0,0);
lcd.print("OK! ingred 2");
delay(1000);
}
//gimme button pressed
else if(keypad_3 == 0) {
gimmeFlag = true;
lcd.clear();
lcd.setCursor(0,0);
lcd.print("OK! give me button pressed");
delay(1000);
}
//cancel button pressed
else{ //resets the ingredients
ingredient1 = false;
ingredient2 = false;
ingredientCount = 0;
lcd.clear();
lcd.setCursor(0,0);
lcd.print("OK! cancelled");
delay(1000);
}
//check whether ingredient cap is reached or not
if(ingredientCount==2)
{
gimmeFlag = true;
}
}
lcd.clear();
lcd.setCursor(0,0);
lcd.print("Patience. Preparing.");
delay(1000);
// reset variables
bill_validator = 0;
ingredientCount = 0;
//ingredient1 = false;
//ingredient2 = false;
gimmeFlag = false;
keypad_1 = 1;
keypad_2 = 1;
keypad_3 = 1;
keypad_4 = 1;
// wait
delay(2000);
}
void fill_ingredients(boolean ing1, boolean ing2){
//ing1 comes here with true value if ingredient 1 is selected
//ing2 comes here with true value if ingredient 2 is selected
if(ing1==true){
rotateDeg(45.7142858, .03, 10); //send signal to ingredient 1 motor
delay(1000);
rotateDeg(45.7142858, .03, 10); //send signal to ingredient 1 motor
}
delay(250);
if(ing2==true){
rotateDeg(45.7142858, .03, 13); //send signal to ingredient 2 motor
delay(1000);
rotateDeg(45.7142858, .03, 13); //send signal to ingredient 2 motor
}
delay(250);
digitalWrite(0,LOW);
rotateDeg(45.7142858, .03, 9); //send signal to main motor
delay(1000);
digitalWrite(0,HIGH);
rotateDeg(45.7142858, .03, 9); //send signal to main motor
delay(1000);
lcd.clear();
lcd.setCursor(0,0);
}
void rotate(int steps, float speed){
//rotate a specific number of microsteps (8 microsteps per step) - (negitive for reverse movement)
//speed is any number from .01 -> 1 with 1 being fastest - Slower is stronger
int dir = (steps > 0)? HIGH:LOW;
steps = abs(steps);
//digitalWrite(DIR_PIN,dir);
float usDelay = (1/speed) * 70;
for(int i=0; i < steps; i++){
digitalWrite(STEP_PIN, HIGH);
delayMicroseconds(usDelay);
digitalWrite(STEP_PIN, LOW);
delayMicroseconds(usDelay);
}
}
void rotateDeg(float deg, float speed, int motorNumber){
//rotate a specific number of degrees (negitive for reverse movement)
//speed is any number from .01 -> 1 with 1 being fastest - Slower is stronger
int dir = (deg > 0)? HIGH:LOW;
//digitalWrite(DIR_PIN,dir);
int steps = abs(deg)*(1/0.225);
float usDelay = (1/speed) * 70;
for(int i=0; i < steps; i++){
digitalWrite(motorNumber, HIGH);
delayMicroseconds(usDelay);
digitalWrite(motorNumber, LOW);
delayMicroseconds(usDelay);
}
}
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