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  1. #include <CmdParser.hpp>
  2.  
  3. const float motorAngle = 1.8;
  4. const float stepSize = 1;
  5. unsigned long rpm = 100; //Default Speed - min = 100 max = 400
  6.  
  7. const float Cspu = 476;
  8. const float Mspu = 555;
  9. const float Yspu = 500;
  10. const float Kspu = 530;
  11.  
  12. bool clean = true, pump = false;
  13. unsigned long Red, Green, Blue, Volume;
  14. unsigned long Cyan, Magenta, Yellow, Key;
  15. float Csteps, Msteps, Ysteps, Ksteps;
  16.  
  17. #define enPin 8
  18. #define cDirPin 5
  19. #define cStepPin 2
  20. #define mDirPin 6
  21. #define mStepPin 3
  22. #define yDirPin 7
  23. #define yStepPin 4
  24. #define kDirPin 13
  25. #define kStepPin 12
  26. #define buzPin A1
  27.  
  28. void setup() {
  29. pinMode(enPin, OUTPUT);
  30. pinMode(cDirPin, OUTPUT);
  31. pinMode(cStepPin, OUTPUT);
  32. pinMode(mDirPin, OUTPUT);
  33. pinMode(mStepPin, OUTPUT);
  34. pinMode(yDirPin, OUTPUT);
  35. pinMode(yStepPin, OUTPUT);
  36. pinMode(kDirPin, OUTPUT);
  37. pinMode(kStepPin, OUTPUT);
  38.  
  39. pinMode(buzPin, OUTPUT);
  40.  
  41. digitalWrite(enPin, HIGH);
  42.  
  43. Serial.begin(38400);
  44. Serial.println("Send command to operate......"); // PUMP 10 20 30 100 // SPEED 500 // CLEAN
  45. }
  46.  
  47. void loop() {
  48. cmdRead(Red, Green, Blue, Volume);
  49. }
  50.  
  51. void cmdRead(unsigned long &R, unsigned long &G, unsigned long &B, unsigned long &vol) {
  52. CmdParser cmdParser;
  53. CmdBuffer<64> myBuffer;
  54. if (myBuffer.readFromSerial(&Serial)) {
  55. if (cmdParser.parseCmd(&myBuffer) != CMDPARSER_ERROR) {
  56. Serial.println(" ");
  57. Serial.print("Parsing Command : ");
  58. Serial.println(myBuffer.getStringFromBuffer());
  59. if (cmdParser.getParamCount() == 5) {
  60. if(cmdParser.equalCmdParam(0, "PUMP")){
  61. Serial.println(" ");Serial.print("Command : ");
  62. Serial.println(cmdParser.getCommand());
  63. R = atoi(cmdParser.getCmdParam(1));
  64. G = atoi(cmdParser.getCmdParam(2));
  65. B = atoi(cmdParser.getCmdParam(3));
  66. vol = atoi(cmdParser.getCmdParam(4));
  67. if(!clean && pump) {
  68. Serial.print("Base Volume : ");Serial.print(Volume);Serial.println("ml");
  69. Serial.println(" ");
  70. Serial.print("RGB : ");Serial.print(Red);Serial.print(" ");Serial.print(Green);Serial.print(" ");Serial.println(Blue);
  71. getCMYK(Cyan, Magenta, Yellow, Key);
  72. getSteps(Csteps, Msteps, Ysteps, Ksteps);
  73. makeColor();
  74. Serial.println(" ");
  75. Serial.println("Send command to operate......");
  76. }
  77. else {
  78. Serial.println("Load the pumps then try again...!");
  79. Serial.println(" ");
  80. Serial.println("Send command to operate......");
  81. }
  82. }
  83. else {
  84. Serial.println("Invalid Command...!");
  85. Serial.println(" ");
  86. }
  87. }
  88.  
  89. else if (cmdParser.getParamCount() == 2) {
  90. if(cmdParser.equalCmdParam(0, "SPEED")) {
  91. rpm = atoi(cmdParser.getCmdParam(1));
  92. if (rpm > 400) {
  93. rpm = 400;
  94. }
  95. else if (rpm < 100) {
  96. rpm = 100;
  97. }
  98. Serial.print("Flow Rate set to ");Serial.print(rpm);Serial.println(" RPM");
  99. Serial.println(" ");
  100. }
  101. else {
  102. Serial.println("Invalid Command");
  103. Serial.println(" ");
  104. }
  105. }
  106. else if (cmdParser.getParamCount() == 1) {
  107. if(cmdParser.equalCmdParam(0, "LOAD")) {
  108. if(clean) {
  109. loadPump();
  110. pump = true;
  111. clean = false;
  112. Serial.println(" ");
  113. }
  114. else {
  115. Serial.println("Already Loaded...!");
  116. Serial.println(" ");
  117. }
  118. }
  119. else if(cmdParser.equalCmdParam(0, "LOAD_NOT_REQUIRED")) {
  120. Serial.println("Please ensure that fuild is loaded before continuing.....!");
  121. clean = false;
  122. pump = true;
  123. }
  124. else if(cmdParser.equalCmdParam(0, "CLEAN")) {
  125. if(!clean) {
  126. cleanPump();
  127. clean = true;
  128. pump = false;
  129. Serial.println(" ");
  130. }
  131. else {
  132. Serial.println("Pumps are clean...!");
  133. Serial.println(" ");
  134. }
  135. }
  136. else {
  137. Serial.println("Invalid Command");
  138. Serial.println(" ");
  139. }
  140. }
  141. else {
  142. Serial.println("Invalid Command");
  143. Serial.println(" ");
  144. }
  145. }
  146. }
  147. }
  148.  
  149. void getCMYK(unsigned long &Cyan, unsigned long &Magenta, unsigned long &Yellow, unsigned long &Key) {
  150. Serial.println("Converting RGB to CMYK (0-255 => 0-100)");
  151. float R = (float)Red/255.0;
  152. float G = (float)Green/255.0;
  153. float B = (float)Blue/255.0;
  154. float K = (1 - max(max(R, G),B));
  155. float C = (1 - R - K)/(1 - K);
  156. float M = (1 - G - K)/(1 - K);
  157. float Y = (1 - B - K)/(1 - K);
  158. Cyan = (float)C*100;
  159. Magenta = (float)M*100;
  160. Yellow = (float)Y*100;
  161. Key = (float)K*100;
  162. Serial.print("CMYK : ");Serial.print(Cyan);Serial.print(" ");Serial.print(Magenta);Serial.print(" ");Serial.print(Yellow);Serial.print(" ");Serial.println(Key);
  163. }
  164.  
  165. void getSteps(float &Csteps, float &Msteps, float &Ysteps, float &Ksteps) {
  166. float Cvol = ((float)(Cyan*Volume))/100;
  167. float Mvol = ((float)(Magenta*Volume))/100;
  168. float Yvol = ((float)(Yellow*Volume))/100;
  169. float Kvol = ((float)(Key*Volume))/100;
  170.  
  171. Csteps = Cvol * Cspu;
  172. Msteps = Mvol * Mspu;
  173. Ysteps = Yvol * Yspu;
  174. Ksteps = Kvol * Kspu;
  175.  
  176. Serial.println(" ");
  177. Serial.print("Color Volume: ");Serial.print(Cvol);Serial.print(" ");Serial.print(Mvol);Serial.print(" ");Serial.print(Yvol);Serial.print(" ");Serial.println(Kvol);
  178. Serial.println(" ");
  179. }
  180.  
  181. void loadPump() {
  182. digitalWrite(enPin, LOW);
  183. Serial.print("Loading Fluid into Pumps...");
  184. cStepperRotate(3000, rpm);
  185. Serial.print("...");
  186. mStepperRotate(3000, rpm);
  187. Serial.print("...");
  188. yStepperRotate(3000, rpm);
  189. Serial.print("...");
  190. kStepperRotate(3000, rpm);
  191. Serial.println("...Done!");
  192. }
  193.  
  194. void cleanPump() {
  195. digitalWrite(enPin, LOW);
  196. Serial.print("Cleaning Pumps...");
  197. cStepperRotate(-3000, rpm);
  198. Serial.print("...");
  199. mStepperRotate(-3000, rpm);
  200. Serial.print("...");
  201. yStepperRotate(-3000, rpm);
  202. Serial.print("...");
  203. kStepperRotate(-3000, rpm);
  204. Serial.println("...Done!");
  205. digitalWrite(enPin, HIGH);
  206. }
  207.  
  208. void makeColor() {
  209. digitalWrite(enPin, LOW);
  210. if (Csteps != 0) {
  211. Serial.print("Pumping Cyan with ");
  212. Serial.print(Csteps);
  213. Serial.print(" Steps");
  214. cStepperRotate(Csteps, rpm);
  215. Serial.println(" .....Done!");
  216. setBuzz();
  217. }
  218. if (Msteps != 0) {
  219. Serial.print("Pumping Magenta with ");
  220. Serial.print(Msteps);
  221. Serial.print(" Steps");
  222. mStepperRotate(Msteps, rpm);
  223. Serial.println(" .....Done!");
  224. setBuzz();
  225. }
  226. if (Ysteps != 0) {
  227. Serial.print("Pumping Yellow with ");
  228. Serial.print(Ysteps);
  229. Serial.print(" Steps");
  230. yStepperRotate(Ysteps, rpm);
  231. Serial.println(" .....Done!");
  232. setBuzz();
  233. }
  234. if (Ksteps != 0) {
  235. Serial.print("Pumping Key with ");
  236. Serial.print(Ksteps);
  237. Serial.print(" Steps");
  238. kStepperRotate(Ksteps, rpm);
  239. Serial.println(" .....Done!");
  240. setBuzz();
  241. }
  242.  
  243. Serial.println(" ");
  244. Serial.println("All colors pumped!");
  245. Serial.println(" ");
  246. }
  247.  
  248. void setBuzz() {
  249. analogWrite(buzPin, 255);
  250. delay(100);
  251. analogWrite(buzPin, 0);
  252. delay(50);
  253. }
  254.  
  255. void cStepperRotate(float steps, float rpm) {
  256. float stepsPerRotation = (360.00 / motorAngle) / stepSize;
  257. unsigned long stepPeriodmicroSec = ((60.0000 / (rpm * stepsPerRotation)) * 1E6 / 2.0000) - 5;
  258.  
  259. if (steps > 0) {
  260. digitalWrite(cDirPin, HIGH);
  261. }
  262. else {
  263. digitalWrite(cDirPin, LOW);
  264. }
  265.  
  266. if (steps > 0) {
  267. float totalSteps = steps;
  268. for (unsigned long i = 0; i < totalSteps; i++) {
  269. digitalWrite(cStepPin, HIGH);
  270. delayMicroseconds(stepPeriodmicroSec);
  271. digitalWrite(cStepPin, LOW);
  272. delayMicroseconds(stepPeriodmicroSec);
  273. }
  274. }
  275. else {
  276. float totalSteps = steps * -1;
  277. for (unsigned long i = 0; i < totalSteps; i++) {
  278. digitalWrite(cStepPin, HIGH);
  279. delayMicroseconds(stepPeriodmicroSec);
  280. digitalWrite(cStepPin, LOW);
  281. delayMicroseconds(stepPeriodmicroSec);
  282. }
  283. }
  284. }
  285.  
  286. void mStepperRotate(float steps, float rpm) {
  287. float stepsPerRotation = (360.00 / motorAngle) / stepSize;
  288. unsigned long stepPeriodmicroSec = ((60.0000 / (rpm * stepsPerRotation)) * 1E6 / 2.0000) - 5;
  289.  
  290. if (steps > 0) {
  291. digitalWrite(mDirPin, HIGH);
  292. }
  293. else {
  294. digitalWrite(mDirPin, LOW);
  295. }
  296.  
  297. if (steps > 0) {
  298. float totalSteps = steps;
  299. for (unsigned long i = 0; i < totalSteps; i++) {
  300. digitalWrite(mStepPin, HIGH);
  301. delayMicroseconds(stepPeriodmicroSec);
  302. digitalWrite(mStepPin, LOW);
  303. delayMicroseconds(stepPeriodmicroSec);
  304. }
  305. }
  306. else {
  307. float totalSteps = steps * -1;
  308. for (unsigned long i = 0; i < totalSteps; i++) {
  309. digitalWrite(mStepPin, HIGH);
  310. delayMicroseconds(stepPeriodmicroSec);
  311. digitalWrite(mStepPin, LOW);
  312. delayMicroseconds(stepPeriodmicroSec);
  313. }
  314. }
  315. }
  316.  
  317. void yStepperRotate(float steps, float rpm) {
  318. float stepsPerRotation = (360.00 / motorAngle) / stepSize;
  319. unsigned long stepPeriodmicroSec = ((60.0000 / (rpm * stepsPerRotation)) * 1E6 / 2.0000) - 5;
  320.  
  321. if (steps > 0) {
  322. digitalWrite(yDirPin, HIGH);
  323. }
  324. else {
  325. digitalWrite(yDirPin, LOW);
  326. }
  327.  
  328. if (steps > 0) {
  329. float totalSteps = steps;
  330. for (unsigned long i = 0; i < totalSteps; i++) {
  331. digitalWrite(yStepPin, HIGH);
  332. delayMicroseconds(stepPeriodmicroSec);
  333. digitalWrite(yStepPin, LOW);
  334. delayMicroseconds(stepPeriodmicroSec);
  335. }
  336. }
  337. else {
  338. float totalSteps = steps * -1;
  339. for (unsigned long i = 0; i < totalSteps; i++) {
  340. digitalWrite(yStepPin, HIGH);
  341. delayMicroseconds(stepPeriodmicroSec);
  342. digitalWrite(yStepPin, LOW);
  343. delayMicroseconds(stepPeriodmicroSec);
  344. }
  345. }
  346. }
  347.  
  348. void kStepperRotate(float steps, float rpm) {
  349. float stepsPerRotation = (360.00 / motorAngle) / stepSize;
  350. unsigned long stepPeriodmicroSec = ((60.0000 / (rpm * stepsPerRotation)) * 1E6 / 2.0000) - 5;
  351.  
  352. if (steps > 0) {
  353. digitalWrite(kDirPin, HIGH);
  354. }
  355. else {
  356. digitalWrite(kDirPin, LOW);
  357. }
  358.  
  359. if (steps > 0) {
  360. float totalSteps = steps;
  361. for (unsigned long i = 0; i < totalSteps; i++) {
  362. digitalWrite(kStepPin, HIGH);
  363. delayMicroseconds(stepPeriodmicroSec);
  364. digitalWrite(kStepPin, LOW);
  365. delayMicroseconds(stepPeriodmicroSec);
  366. }
  367. }
  368. else {
  369. float totalSteps = steps * -1;
  370. for (unsigned long i = 0; i < totalSteps; i++) {
  371. digitalWrite(kStepPin, HIGH);
  372. delayMicroseconds(stepPeriodmicroSec);
  373. digitalWrite(kStepPin, LOW);
  374. delayMicroseconds(stepPeriodmicroSec);
  375. }
  376. }
  377. }
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