MacQuick Prototype Demo Software

macquickdemo.c

/*  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);
  }
}