genie.attacheventhandler(mygenieeventhandler); // Attach the user function Event Handler for processing events

Transcription

1 #include <Event.h> #include <Timer.h> #include <geniearduino.h> //#include <EEPROM.h> Genie genie; #define RESETLINE 4 Timer t1,t4,t2; int needsave = 1; int timesince = 0; int pulses, A_SIG = 0, B_SIG = 1; #define CHANNEL1 11 #define CHANNEL2 12 #define CHANNEL3 7 #define VoltagePin int repeatdistance = 0; int previoustargetheight = 0; int now = 0; int next =0; int last =0; int battpercentage=0; float battvoltage=0; void setup() attachinterrupt(0, A_RISE, RISING); // interupts for counting encoder attachinterrupt(1, B_RISE, RISING); pinmode(channel1, OUTPUT); // outputs for relay control pinmode(channel2, OUTPUT); pinmode(channel3, OUTPUT); pinmode(13, OUTPUT); pinmode(9, INPUT_PULLUP); //SET BUTTON INPUT PINS AND PULLUPRESISTORS digitalwrite (9, HIGH); pinmode(10, INPUT_PULLUP); digitalwrite (10, HIGH); pinmode(8, INPUT_PULLUP); digitalwrite (8, HIGH); Serial.begin(200000); // (200K) Baud genie.begin(serial); // Use Serial0 for talking to the Genie Library, and to the 4D Systems display genie.attacheventhandler(mygenieeventhandler); // Attach the user function Event Handler for processing events pinmode(resetline, OUTPUT); // Set D4 on Arduino to Output (4D Arduino Adaptor V2 - Display Reset) digitalwrite(resetline, 1); // Reset the Display via D4 delay(100); digitalwrite(resetline, 0); // unreset the Display via D4 delay (4000); //let the display start up after the reset (This is important) genie.writecontrast(15); // turns display on and sets max contrast

2 say(4, repeatdistance); genie.doevents(); // This calls the library each loop to process the queued responses from the display calibrate(); // t1.every(200, timesetter); // ads half second count to time since last button push t2.every(1000,checkvoltage); // updates the battery disply //********************************************************************************************** void loop() digitalwrite(13,!digitalread(13)); // This makes the led on the arduino blink once with each loop, to show lo genie.doevents(); // This calls the library each loop to process the queued responses from the display t1.update(); t4.update(); if ( digitalread (9) == HIGH && digitalread (10) == HIGH ) // check all button positions and update actions ac freeze(); if (digitalread (9) == LOW) goup(); pushed(); if (digitalread (10) == LOW) godown(); pushed(); if (digitalread (8) == LOW) genie.writestr(0, "going to next height"); repeat(); void A_RISE() detachinterrupt(0); A_SIG = 1; if (B_SIG == 0) if (B_SIG == 1) // Serial.println(pulses); attachinterrupt(0, A_FALL, FALLING); void A_FALL() detachinterrupt(0); A_SIG = 0; if (B_SIG == 1) if (B_SIG == 0)

3 //Serial.println(pulses); attachinterrupt(0, A_RISE, RISING); void B_RISE() detachinterrupt(1); B_SIG = 1; if (A_SIG == 1) if (A_SIG == 0) // Serial.println(pulses); attachinterrupt(1, B_FALL, FALLING); void B_FALL() detachinterrupt(1); B_SIG = 0; if (A_SIG == 0) if (A_SIG == 1) //Serial.println(pulses); attachinterrupt(1, B_RISE, RISING); //***************************************************************************should the current height be save void timesetter() timesince ++; // counts 0.2 seconds since button has not been pushed (called automatically every 0.2 second) if (needsave == 0) genie.writeobject(genie_obj_gauge, 1, timesince * 3); if (timesince > 1000) timesince = 10; // prevents this number from getting too big (called automatically once a minute void pushed() t4.after(4000, saveheight); timesince = 0; // resets the count since button has been pushed needsave = 0; //tells save height to actually save next time - meaning the height is only saved once and all genie.writestr(0, "saving in 3 seconds"); t1.update(); void saveheight() t1.update(); if (needsave == 0) genie.writestr(0, "waiting to save");

4 if (timesince > 8 && needsave == 0) //if it has been 2 seconds since a reset and there has been at least one re needsave = 1; // set the need to save height as no untill up or down is pusshed again last = now; // *now* still holds the previous stored height which is hereby transfered to the value last now = pulses; // this updates the value *now* to be correc repeatdistance = (now - last); // define repeat distance: diferance between last two saved heights next = (now + repeatdistance); // the next target height will be the actual current height plus the distance if (next > now ) genie.writeobject(genie_obj_userimages, 0,1); if (next < now ) genie.writeobject(genie_obj_userimages, 0,0); rangefinder(); // alert and avoid going past maximum extension say(4, repeatdistance); say(0,timesince); genie.writestr(0, "curent height has been saved"); genie.writeobject(genie_obj_gauge, 0x00, 0); genie.writeobject(genie_obj_sound, 0x00, 0); //***************************************************************************repeat function below************ void repeat() int directionalremainder = 0; int remainder = 9999; directionalremainder = (next - pulses); if (pulses > next) remainder = abs(directionalremainder); // are we there yet? finds distance to target height // removes negatives to give absolute distance int h = 0; for ( h = 0; remainder > 90; h ++) // move if we are not at the target height this loops until we aclose if (pulses < next ) // go up if below the target height goup(); if (pulses > next ) //go down if above target height godown(); directionalremainder = (next - pulses); // are we there yet? finds distance to target height remainder = abs(directionalremainder); // makes distance absolute (not positive or negati if (remainder < 10) // if we the height happens to be close to the target height freeze(); //before trying to get closer, the arm slows

5 delay (300); ; for ( h = 0; remainder > 6 ; h ++) //if we are almost there, pause (once after each call to repeat) allowing if (pulses < next) //keep going in same direction for a fraction of a second before stopping and checking again goup(); delay (20); if (pulses > next ) //goes down further than up, to prevent ever being caught godown(); delay(30); freeze(); delay (200); if ( remainder < 15 ) delay (400); directionalremainder = (next - pulses); // meaasures the remaining distance to *next* height so th remainder = abs(directionalremainder); // makes distance absolute (not positive or negative) freeze(); // remaining distance must be less than 6 now - (within 0.5mm) so actuator is stopped and screen upda last = now; now = next; repeatdistance = (now - last); // define repeat distance: diferance between last two saved heights next = (now + repeatdistance); //redefines targetheight based on genie.writestr(0, "next height has been incremented"); rangefinder(); // alert and avoid going past maximum extension say(4, repeatdistance); //update display before previous height is updated void rangefinder() if (next < 20 next > 5800) next = now; genie.writeobject(genie_obj_userimages, 0,2); genie.writestr(0, "Limit reached, please begin a new stack."); void calibrate() genie.writeobject(genie_obj_form, 2, 0); // Change to vaupel form genie.writestr(10,"calibrating"); int tempheight1 = 0; int tempheight2 = 9999 ; for ( int y = 0; tempheight1!= tempheight2; y ++) // if the last two readins are different the arm is still mo tempheight1 = pulses; // set temp height to current encoder reading

6 godown(); // drives actuator down delay (500); tempheight2 = pulses; // set temp height to current encoder reading say(11, pulses); freeze(); pulses = 0; genie.writeobject(genie_obj_form, 0, 0); // Change to numbers form genie.writestr(0, "Press up to set your first height"); genie.writeobject(genie_obj_userimages, 0,1); // display up arrow for first move say(4, repeatdistance); void mygenieeventhandler(void) genieframe Event; genie.dequeueevent(&event); int slider_val = 0; //If the cmd received is from a Reported Event (Events triggered from the Events tab of Workshop4 objects) if (Event.reportObject.cmd == GENIE_REPORT_EVENT) if (Event.reportObject.object == GENIE_OBJ_SLIDER) // If the Reported Message was from a Slide if (Event.reportObject.index == 0) // If Slider0 slider_val = genie.geteventdata(&event); // Receive the event data from the Slider0 genie.writeobject(genie_obj_led_digits, 0x00, slider_val); // Write Slider0 value to to LED Digits 0 //If the cmd received is from a Reported Object, which occurs if a Read Object (genie.readoject) is requested i if (Event.reportObject.cmd == GENIE_REPORT_OBJ) if (Event.reportObject.object == GENIE_OBJ_USER_LED) // If the Reported Message was from a User if (Event.reportObject.index == 0) // If UserLed0 bool UserLed0_val = genie.geteventdata(&event); // Receive the event data from the UserLed0 UserLed0_val =!UserLed0_val; // Toggle the state of the User LED Variabl genie.writeobject(genie_obj_user_led, 0x00, UserLed0_val); // Write UserLed0_val value back to to User //This can be expanded as more objects are added that need to be captured //Event.reportObject.cmd is used to determine the command of that event, such as an reported event //Event.reportObject.object is used to determine the object type, such as a Slider //Event.reportObject.index is used to determine the index of the object, such as Slider0 //genie.geteventdata(&event) us used to save the data from the Event, into a variable. int lastaction = 99; void freeze() if (lastaction!= 0) //prevents pins being constantly set to the same value // Serial.println("freezing"); digitalwrite(channel1, LOW);

7 digitalwrite(channel2, LOW); digitalwrite(channel3, LOW); lastaction = 0; void godown() if (lastaction!= 1) // Serial.println("going down"); digitalwrite(channel1, HIGH); digitalwrite(channel2, HIGH); digitalwrite(channel3, HIGH); lastaction = 1; void goup() if (lastaction!= 2) //Serial.println("going up"); digitalwrite(channel1, HIGH); digitalwrite(channel2, LOW); digitalwrite(channel3, LOW); lastaction = 2; void say(int which, long value) char newvalue[4]; String holder; holder=string(value/30); holder.tochararray(newvalue,4); genie.writestr(which,newvalue); void pos() char newvalue[4]; String holder; holder=string(pulses/30); holder.tochararray(newvalue,4); genie.writestr(5,newvalue); void checkvoltage() battvoltage = analogread(0) *5*2.77/123; battpercentage = map (battvoltage, 11.5,13.8, 0,100); say(12, battpercentage); genie.writeobject(genie_obj_gauge, 0, battpercentage);