feeders threshold rework, both feeders working

HTequi-firmware/src/blobcnc_feeder/main.cpp

@@ -44,7 +44,7 @@ const int PILL_SPEED = 20 ;
 const int PILL_ACC = 1000 ;
 const int PILL_DISTANCE = 200 ; //in full steps
 const int PILL_MICROSTEP = 32;
-const int PILL_THRESHOLD = 680 ;
+const int PILL_THRESHOLD = 750 ;
 const int PILL_MOVE_AFTER_DETECTION = 20 ;
 
 

HTequi-firmware/src/blobcnc_top/main.cpp

@@ -11,8 +11,6 @@
 #include "Atm_out.h"
 
 //osc
-
-
 #include <SPI.h>
 #include <Ethernet.h>
 #include <EthernetUdp.h>
@@ -20,6 +18,9 @@
 #include <OSCBundle.h>
 
 
+#include <Servo.h>
+
+
 ////////////////    Ethernet  /////////////////////////////
 // Enter a MAC address and IP address for your controller below.
 // The IP address will be dependent on your local network:
@@ -46,24 +47,27 @@ const int LOW_ACC = 1000 ;
 
 Atm_Teenstep_OSC X_top_OSC;
 Atm_Teenstep X_top_step;
-// Atm_TeensyStep X_top_step;
 Stepper X_top_stepper(20 , 19);
 StepControl X_top_controller ;
 
-Atm_TeensyStep Y_top_step;
-Stepper Y_top_stepper(6 , 5);
-// Stepper Y_top_stepper(22 , 21);
+Atm_Teenstep_OSC Y_top_OSC;
+Atm_Teenstep Y_top_step;
+Stepper Y_top_stepper(22 , 21);
 StepControl Y_top_controller ;
 
-Atm_out peristaltic;
-int peristaltic_pwm_pin = 3;
-int peristaltic_dir_pin = 2;
-
 
 void testCallback(){
   // printPosition
 }
 
+/////////////////// Servo and pump  ////////////////////////
+
+const int peristaltic_pwm_pin = 3;
+const int peristaltic_dir_pin = 2;
+bool peristaltic_direction = 0 ;
+
+Servo pill_trap ;
+
 /////////////////// Feeders serial communication  ////////////////////////
 char feeder1_buffer[80];
 Atm_command feeder1;
@@ -136,6 +140,11 @@ void feederOSC(OSCMessage &msg){
   msg.dispatch("/feeder2/pill_move", [](OSCMessage &msg){Serial2.print("pill_move ");Serial2.print(msg.getInt(0));Serial2.println(" ");Serial.println(msg.getInt(0));});
 }
 
+void motorsOSC(OSCMessage &msg){
+  msg.dispatch("/pill_trap", [](OSCMessage &msg){pill_trap.write(msg.getFloat(0));});
+  msg.dispatch("/peristaltic", [](OSCMessage &msg){analogWrite(peristaltic_pwm_pin, msg.getInt(0));});
+}
+
 
 //////////////  Setup  /////////////////////
 
@@ -145,7 +154,6 @@ void setup() {
   Ethernet.init(15);//(10)
   teensyMAC(mac);
   Ethernet.begin(mac);              // start the Ethernet and UDP:
- //  Udp.beginMulti(ipMulti, portMulti);   // for modified Arduino library
   Udp.beginMulticast(ipMulti, portMulti); // for modified Teensy Ethernet library
 
   //  SERIAL
@@ -158,7 +166,6 @@ void setup() {
 
   //  STEPPERS
   X_top_step.trace( Serial );
-   // X_top_step.begin(X_top_stepper, X_top_controller, Udp, bndl, "/X_top")
   X_top_step.begin(X_top_stepper, X_top_controller)
             .setEnablePin(18)//.enableReversed(1);//.enable(1);
             .setLimitType(3).setLimitPins(A3).limitReversed(false).limitThresholds(600, 750, 950, 1200);
@@ -169,18 +176,15 @@ void setup() {
   // X_top_step.onOnchangeposition();
 
   Y_top_step.trace( Serial );
-  Y_top_step.begin(Y_top_stepper, Y_top_controller, Udp, bndl, "/Y_top")
+  Y_top_step.begin(Y_top_stepper, Y_top_controller)
             .setEnablePin(23).enableReversed(1)
             //limit pin is on 7 and 8
              .setLimitType(1).setLimitPins(16).limitReversed(true);
   Y_top_stepper.setMaxSpeed(800);
   Y_top_stepper.setAcceleration(2500);
   Y_top_stepper.setInverseRotation(false);
-  //stepper.onOnchange(Machine &machine, optional int event = 0)
-  //stepper.cycle(1000);
-  // X_top_step.move(-100000).disable();
-  // Y_top_step.move(1000);
-  // //delay(2000);
+  Y_top_OSC.begin(Y_top_step, Udp, bndl, "/Y_top");
+
 
   // FEEDERS
   Serial1.begin(9600);
@@ -195,23 +199,24 @@ void setup() {
     .list( feeder2list )
     .onCommand( feeder2_callback );
 
-  //automaton.delay(5000);
-  //X_top_step.stop();
-  //controller.moveAsync(*stepper.motor);
-  //pinMode(17, INPUT);
-
-  //  PERISTALTIC PUMP
-  //analogWriteResolution(8);
-  // pinMode(peristaltic_dir_pin, OUTPUT);
-  // //pinMode(peristaltic_pwm_pin, OUTPUT);
-  // digitalWrite(peristaltic_dir_pin, LOW); //choose pump direction
-  // analogWrite(peristaltic_pwm_pin, 50);
-   // peristaltic.begin(peristaltic_pwm_pin).trigger(peristaltic.EVT_ON);
-  // peristaltic.start();
-  // peristaltic.begin( peristaltic_pwm_pin, 0, Udp, bndl, "/peristaltic" );
-  // //.brightness( 100 );
-  // peristaltic.blink( 2000 ).start();
-
+  //  Servo controlling pill trap
+  pill_trap.attach(14);
+
+  //  Peristaltic pump
+  pinMode(peristaltic_dir_pin, OUTPUT);
+  digitalWrite(peristaltic_dir_pin, peristaltic_direction);
+  pinMode(peristaltic_pwm_pin, OUTPUT);
+  analogWrite(peristaltic_pwm_pin, 50);
+ //  for(int pos = 0; pos <= 180; pos += 1) // goes from 0 degrees to 180 degrees
+ // {                                  // in steps of 1 degree
+ //   pill_trap.write(pos);              // tell servo to go to position in variable 'pos'
+ //   delay(5);                       // waits 15ms for the servo to reach the position
+ // }
+ // for(int pos = 180; pos>=0; pos-=1)     // goes from 180 degrees to 0 degrees
+ // {
+ //   pill_trap.write(pos);              // tell servo to go to position in variable 'pos'
+ //   delay(5);                       // waits 15ms for the servo to reach the position
+ // }
 
 }
 
@@ -235,7 +240,9 @@ void loop() {
        Serial.println("got OSC");
        // msgIn.route("/blink", test);
        X_top_OSC.onOSC(msgIn);
+       Y_top_OSC.onOSC(msgIn);
        feederOSC(msgIn);
+       motorsOSC(msgIn);
        // Y_top_step.onOSC(msgIn);
        // peristaltic.onOSC(msgIn);
      }

blob-CN/main.pd

@@ -54,7 +54,7 @@
 #X msg 733 282 /Y_top/emergencyStop;
 #X obj 1159 335 list prepend set;
 #X obj 1159 360 list trim;
-#X msg 1159 385 /feeder2/pill/done 0;
+#X msg 1159 385 /peristaltic 186;
 #X msg 542 157 /X_top/enable 1;
 #X msg 756 101 /feeder2/barrel_home;
 #X msg 746 131 /feeder1/barrel_home;
@@ -64,8 +64,20 @@
 #X msg 710 227 /Y_top/move 1000;
 #X msg 531 108 /X_top/SpeedAcc 5000 500;
 #X msg 804 185 /Y_top/SpeedAcc 10000 500;
-#X msg 744 31 /feeder2/pill;
+#X msg 837 46 /feeder2/pill;
 #X msg 734 61 /feeder1/pill;
+#X msg 557 53 /feeder2/barrel_move 200;
+#X msg 631 16 /feeder2/pill_move 20;
+#X msg 422 237 /pill_trap \$1;
+#X obj 370 166 hsl 128 15 0 200 0 0 empty empty empty -2 -8 0 10 -262144
+-1 -1 0 1;
+#X obj 367 186 f;
+#X floatatom 369 226 5 0 0 0 - - -;
+#X floatatom 429 200 5 0 0 0 - - -;
+#X obj 690 321 hsl 128 15 0 255 0 0 empty empty empty -2 -8 0 10 -262144
+-1 -1 9300 1;
+#X obj 698 355 i;
+#X msg 674 395 /peristaltic \$1;
 #X connect 0 0 35 0;
 #X connect 2 0 35 0;
 #X connect 3 0 35 0;
@@ -117,3 +129,13 @@
 #X connect 58 0 42 0;
 #X connect 59 0 42 0;
 #X connect 60 0 42 0;
+#X connect 61 0 42 0;
+#X connect 62 0 42 0;
+#X connect 63 0 42 0;
+#X connect 64 0 65 0;
+#X connect 65 0 63 0;
+#X connect 65 0 66 0;
+#X connect 67 0 65 0;
+#X connect 68 0 69 0;
+#X connect 69 0 70 0;
+#X connect 70 0 42 0;