API tools faq
paste
Advertisement
Zaganu

26.5.2020 latest

Zaganu
May 26th, 2020
1,342
0
Never
Add comment
Not a member of Pastebin yet? Sign Up, it unlocks many cool features!
Arduino 8.62 KB | None | 0 0
raw download clone embed print report
  1. // definirea pinului de pas, respectiv de directie pentru motorul pas cu pas miscare verticala
  2. #define stepPin 48
  3. #define dirPin 46
  4. #define ls3in 32
  5.  
  6. // definirea pinului de pas, respectiv de directie pentru motorul pas cu pas miscare orizontala lopata
  7. #define stepPin2 44
  8. #define dirPin2 42
  9. #define ls2in 34
  10.  
  11. // definirea pinului de pas, respectiv de directie pentru motorul pas cu pas miscare orizontala masa
  12. #define stepPin3 40
  13. #define dirPin3 38
  14. #define ls1in 36
  15.  
  16. //////////////// senzori///////////////
  17. #define ls0in 52
  18. #define so1in 50 //intrarea primului senzor de obstacole
  19.  
  20. //////////////relee/////////////////////////
  21. #define relay1 30
  22. #define relay2 28
  23. #define relay3 26
  24. #define relay4 24
  25.  
  26. ////// definim butoanele + switch
  27. #define swin 23  //switch
  28. #define start_button 20
  29. #define stop_button 21
  30.  
  31.  
  32. // variabile in care stochez valoarea citita de la senzor
  33. int ls3 = 0;
  34. int ls2 = 0;
  35. int ls1 = 0;
  36.  
  37. int so1 = 0;
  38.  
  39. int sw_val = 0;
  40.  
  41. const byte ROWS = 4; // Four rows
  42. const byte COLS = 4; // Three columns
  43.  
  44.  
  45. char keys[ROWS][COLS] = { // Define the Keymap
  46.   {'1', '2', '3', 'A'},
  47.   {'4', '5', '6', 'B'},
  48.   {'7', '8', '9', 'C'},
  49.   {'*', '0', '#', 'D'}
  50. };
  51. char opposite_keys[ROWS][COLS] = { // Define the Keymap
  52.   {NULL, NULL, NULL, NULL},
  53.   {NULL, NULL, NULL, NULL},
  54.   {'^', '%', '$', NULL},
  55.   {NULL, '@', NULL, NULL}
  56. };
  57.  
  58. byte rowPins[ROWS] = { 2, 3, 4, 5 };// Connect keypad ROW0, ROW1, ROW2 and ROW3 to these Arduino pins.
  59.  
  60. byte colPins[COLS] = { 6, 7, 8 , 9}; // Connect keypad COL0, COL1 and COL2 to these Arduino pins.
  61.  
  62. int opposite_key = NULL;
  63. bool flag_alarm = true;
  64. int current_state = -1;
  65.  
  66. byte chA = 18;
  67. byte chB = 19;
  68. int encoder_value = 0;
  69.  
  70. void setup()
  71. {
  72.   pinMode(stepPin, OUTPUT);
  73.   pinMode(dirPin, OUTPUT);
  74.   pinMode(ls3in, INPUT);
  75.  
  76.   pinMode(stepPin2, OUTPUT);
  77.   pinMode(dirPin2, OUTPUT);
  78.   pinMode(ls2in, INPUT);
  79.  
  80.   pinMode(stepPin3, OUTPUT);
  81.   pinMode(dirPin3, OUTPUT);
  82.   pinMode(ls1in, INPUT);
  83.  
  84.   pinMode(so1in, INPUT);
  85.   pinMode(ls0in, INPUT);
  86.  
  87.   pinMode(relay1, OUTPUT);
  88.   pinMode(relay2, OUTPUT);
  89.   pinMode(relay3, OUTPUT);
  90.   pinMode(relay4, OUTPUT);
  91.  
  92.   // pinmode pentru cele doua butoane si switch
  93.   pinMode(swin, INPUT_PULLUP);
  94.   pinMode(start_button, INPUT_PULLUP);
  95.   pinMode(stop_button, INPUT_PULLUP);
  96.  
  97.  
  98.  
  99.   // declararea pinilor de input respectiv output pentru tastatura 4x4
  100.   pinMode(6, INPUT);
  101.   pinMode(7, INPUT);
  102.   pinMode(8, INPUT);
  103.   pinMode(9, INPUT);
  104.   pinMode(2, OUTPUT);
  105.   pinMode(3, OUTPUT);
  106.   pinMode(4, OUTPUT);
  107.   pinMode(5, OUTPUT);
  108.   ///////////////////////////////
  109.   // setarea starii high pentru pinii asociati coloanelor
  110.  
  111.   digitalWrite(6, HIGH);
  112.   digitalWrite(7, HIGH);
  113.   digitalWrite(8, HIGH);
  114.   digitalWrite(9, HIGH);
  115.  
  116.   digitalWrite(relay1, HIGH);
  117.   digitalWrite(relay2, HIGH);
  118.   digitalWrite(relay3, HIGH);
  119.   digitalWrite(relay4, HIGH);
  120.  
  121.   ///// releul e COM_NC neenergizat, pe semnal LOW se conecteaza COM_NO iar pe semnal HIGH se conecteaza COM_NC.
  122.   Serial.begin(9600);
  123.  
  124.   attachInterrupt(digitalPinToInterrupt(stop_button), alarm, FALLING);
  125.   attachInterrupt(digitalPinToInterrupt(start_button), reset_alarm, FALLING);
  126.   attachInterrupt(digitalPinToInterrupt(stop_button), cw, RISING);
  127.   attachInterrupt(digitalPinToInterrupt(start_button), ccw, RISING);
  128. }
  129.  
  130. void loop() {
  131.   sw_val = digitalRead(swin);
  132.  
  133.   if (sw_val == 0 && flag_alarm == false) {     // sw_val == 0 coincide cu modul AUTOMAT
  134.     automat();
  135.   }
  136.   else if (sw_val == 1) { //sw_val == 1 conincide cu modul MANUAL
  137.     current_state = -1;
  138.     manual();
  139.  
  140.   }
  141. }
  142.  
  143.  
  144. char read_keyboard()
  145. {
  146.   for ( uint8_t i = 2; i < 6; ++i) {
  147.     digitalWrite(i, LOW);
  148.     for ( uint8_t j = 6; j < 10; ++j) {
  149.       int key = digitalRead(j);
  150.       if (!key)
  151.       {
  152.         digitalWrite(i, HIGH);
  153.         opposite_key = (opposite_keys[i - 2][j - 6]);
  154.         return (keys[i - 2][j - 6]);
  155.       }
  156.     }
  157.     digitalWrite(i, HIGH);
  158.   }
  159.   return opposite_key;
  160. }
  161.  
  162. void manual() {
  163.   char a = read_keyboard();
  164.   switch (a)
  165.   {
  166.  
  167.     case '0': //pompa pornita
  168.       {
  169.         if (digitalRead(so1in) == 0) {
  170.           pump_on();
  171.         }
  172.         break;
  173.       }
  174.     case '@': //pompa oprita
  175.       {
  176.         pump_off();
  177.         reset_opposite_key();     //opposite_character = NULL ;
  178.         break;
  179.       }
  180.     case '1': //stepper miscare sus
  181.       {
  182.         ls3 = digitalRead(ls3in);  //stocam valoarea citita de pe ls3in in ls3
  183.         if (ls3 == 0) {
  184.           break;
  185.         }
  186.         else {
  187.           move_motor(stepPin, dirPin, HIGH, 130);
  188.           break;
  189.         }
  190.       }
  191.     case '4': //stepper miscare jos
  192.       {
  193.         move_motor(stepPin, dirPin, LOW, 130);
  194.         break;
  195.       }
  196.     case '3': //stepper lopata miscare stanga
  197.       {
  198.         ls2 = digitalRead(ls2in); //stocam valoarea citita de pe ls2in in ls2
  199.         if (ls2 == 0) {
  200.           break;
  201.         }
  202.         else {
  203.           move_motor(stepPin2, dirPin2, HIGH, 1000);
  204.           break;
  205.         }
  206.       }
  207.     case '2': //stepper lopata miscare dreapta
  208.       {
  209.         move_motor(stepPin2, dirPin2, LOW, 1000);
  210.         break;
  211.  
  212.       }
  213.     case '6': //stepper masa miscare stanga
  214.       {
  215.         ls1 = digitalRead(ls1in);  //stocam valoarea citita de pe ls1in in ls1
  216.         if (ls1 == 0) {
  217.           break;
  218.         }
  219.         else {
  220.           move_motor(stepPin3, dirPin3, HIGH, 100);
  221.           break;
  222.         }
  223.       }
  224.     case '5': //stepper masa miscare dreapta
  225.       {
  226.         move_motor(stepPin3, dirPin3, LOW, 100);
  227.         break;
  228.       }
  229.     case '9': // miscare banda
  230.       {
  231.         if(digitalRead(ls0in) == 0){ // trebuie modificat
  232.           conveyor_off();
  233.           break;
  234.          
  235.         }
  236.         else{
  237.         conveyor_on();
  238.         break;
  239.         }
  240.       }
  241.  
  242.     case '$' : // opposite 9
  243.       {
  244.         conveyor_off();
  245.         reset_opposite_key();   //opposite_character = NULL ;
  246.         break;
  247.       }
  248.     case '8': //invartire sens orar(privit de sus)
  249.       {
  250.         motor_cw();
  251.         break;
  252.       }
  253.     case '%':
  254.       {
  255.         motor_stop();
  256.         reset_opposite_key();    //opposite_character = NULL ;
  257.         break;
  258.       }
  259.     case '7': //invartire sens trigonometric(privit de sus)
  260.       {
  261.         motor_ccw();
  262.         break;
  263.       }
  264.     case '^':
  265.       {
  266.         motor_stop();
  267.         reset_opposite_key();   //opposite_character = NULL ;
  268.         break;
  269.       }
  270.  
  271.   }
  272. }
  273.  
  274. /////////////////////////////// automat /////////////////////////
  275. void automat() {
  276.  
  277.   switch (current_state)
  278.   {
  279.     case 0 :
  280.       {
  281.         initialize();
  282.         break;
  283.       }
  284.  
  285.     case 1 :
  286.       {
  287.      
  288.         break;
  289.       }
  290.   }
  291. }
  292. ////////////////////////////// states///////////////////////////
  293.  
  294. void initialize()
  295. {
  296.    pump_off();
  297.    
  298.   if (digitalRead(ls1in) == 1) {
  299.     move_motor(stepPin3, dirPin3, HIGH, 100);
  300.   }
  301.   else
  302.   {
  303.     if (digitalRead(ls2in) == 1) {
  304.       move_motor(stepPin2, dirPin2, HIGH, 1000);
  305.     }
  306.     else
  307.     {
  308.       if (digitalRead(ls3in) == 1) {
  309.         move_motor(stepPin, dirPin, HIGH, 130);
  310.       }
  311.     }
  312.   }
  313.   if (digitalRead(ls1in) == 0 && digitalRead(ls2in) == 0 && digitalRead(ls3in) == 0)
  314.   {
  315.     current_state = 1;
  316.   }
  317.  
  318.  
  319. }
  320.  
  321.  
  322.  
  323.  
  324. //////////////////////////////// helper functions/////////////////
  325.  
  326. void conveyor_on() //miscare banda pornita
  327. {
  328.   digitalWrite(relay1, LOW);
  329. }
  330.  
  331. void conveyor_off() //miscare banda oprita
  332. {
  333.   digitalWrite(relay1, HIGH);
  334. }
  335.  
  336. void motor_cw() //motor infiletare sens orar
  337. {
  338.   digitalWrite(relay4, LOW);
  339. }
  340.  
  341. void motor_ccw() // motor infiletare sens trigonometric
  342. {
  343.   digitalWrite(relay3, LOW);
  344. }
  345.  
  346. void motor_stop() //motor infiletare este oprit
  347. {
  348.   digitalWrite(relay3, HIGH);
  349.   digitalWrite(relay4, HIGH);
  350. }
  351.  
  352. void pump_on()
  353. {
  354.   digitalWrite(relay2, LOW);
  355. }
  356.  
  357. void pump_off()
  358. {
  359.   digitalWrite(relay2, HIGH);
  360. }
  361.  
  362. void reset_opposite_key()
  363. {
  364.   opposite_key = NULL;
  365. }
  366.  
  367.  
  368. void cw()
  369. {
  370.   if(digitalRead(chA) > digitalRead(chB))
  371.   {
  372.     encoder_value++ ;
  373.   }
  374. }
  375.  
  376. void ccw()
  377. {
  378.   if(digitalRead(chA) > digitalRead(chB))
  379.   {
  380.     encoder_value-- ;
  381.    
  382.   }
  383. }
  384.  
  385. // functie pentru steppere
  386. void move_motor(int motor_pin, int dir_pin, int direction, int delay) {
  387.   digitalWrite(dir_pin, direction);
  388.   digitalWrite(motor_pin, HIGH);
  389.   digitalWrite(motor_pin, LOW);
  390.   delayMicroseconds(delay);
  391.   //ST1-SW123-011, comutator 111100;  delay micro 130
  392.   //ST2-SW123-010, comutator 111011;  delay micro 1000
  393.   //ST2-SW123--010, comutator 001100; delay micro 100
  394. }
  395.  
  396. void alarm() {
  397.   motor_stop();
  398.   pump_off();
  399.   conveyor_off();
  400.   flag_alarm = true;
  401.  
  402. }
  403.  
  404. void reset_alarm() {
  405.   flag_alarm = false;
  406.   current_state = 0;
  407. }
Advertisement
Add Comment
Please, Sign In to add comment
Advertisement
Public Pastes
Advertisement
We use cookies for various purposes including analytics. By continuing to use Pastebin, you agree to our use of cookies as described in the Cookies Policy.  OK, I Understand
Not a member of Pastebin yet?
Sign Up, it unlocks many cool features!