Arduino code for Barwin (former codename evobot) - see http://barwin.suuf.cc/ for more info. This code controls the servos and the scale and communicates with the PC using a serial link.
Debian:
sudo apt-get install make avrdude
See also .travis.yml:
cd /tmp/
wget https://downloads.arduino.cc/arduino-1.8.9-linux64.tar.xz
tar xf arduino-1.8.9-linux64.tar.xz
sudo mv arduino-1.8.9 /opt
(Arduino from apt is way too old, also 1.8.5 seems to make troubles for some reason.)
make
See Makefile for details. Currently mega2560 used, Makefile and upload.sh needs to be adapted (see 0721c72e).
Timeout for one command: 50 milliseconds (see SERIAL_TIMEOUT in config.h)
Terminated using space and \r\n, e.g. to send a command from terminal:
printf "ABORT\r\n" > /dev/ttyACM?
Messages received by Arduino. These messages might be called "commands". Note that depending on the current state, only few commands might be available and you will receive an "INVALID_CMD" error if you send other commands. The state diagram might help to figure out when to send which command.
- POUR x1 x2 x3 ... x_n
- pour x_i grams of ingredient i, for i=1..n; will skip bottle if x_n < UPRIGHT_OFFSET
- ABORT
- abort current cocktail
- RESUME
- resume after BOTTLE_EMPTY error, use this command when bottle is refilled
- DANCE
- let the bottles dance!
- TARE
- sets scale to 0, make sure nothing is on scale when sending this command Note: taring is deleled, when Arduino is reseted (e.g. on lost serial connection)
- TURN bottle_nr microseconds
- turns a bottle (numbered from 0 to 6) to a position given in microseconds
- ECHO
- Example: ECHO ENJOY\r\n Arduino will then print "ENJOY" This is a workaround to resend garbled messages manually. see also: #5
- NOP
- Arduino will do nothing and send message "DOING_NOTHING". This is a dummy message, for testing only.
Messages sent by Arduino. These messages are status messages (or replies to commands).
- READY current_weight is_cup_there
-
- current_weight: int
- current weight on scale in grams
- is_cup_there: int (0-1)
- 0 if no cup, 1 if cup on scale (Arduino assumes cup is there if weight > WEIGHT_EPSILON)
- WAITING_FOR_CUP
- ...if Arduino wants to pour something, but there is no cup.
- POURING bottle weight
-
Sent before starting to pour bottle (not for skipped bottles).
- bottle: int (0-n)
- number of bottle (bottles should be numbered from left to right, starting at 0)
- weight: int
- weight of cup before pouring
- ENJOY x1 x2 x3 ... x_n
- sent after a successfully mixed cocktail, not sent if poured amount is not accurate enough (insteadan ERROR POURING_INACCURATE will be sent
- ERROR error_desc params
-
- error_desc: str
-
For the full list of Strings see errors.cpp. Important examples:
- CUP_GONE
- BOTTLE_EMPTY
- INVAL_CMD
- ...
- NOP
- If Arduino gets command NOP, it replies with NOP and does nothing.
Can be rendered via http://yuml.me/diagram/plain/class/draw
[READY]-POUR>[POURING]
[READY]-POUR>[WAITING_FOR_CUP]
[WAITING_FOR_CUP]->[ERROR CUP_TO]
[ERROR CUP_TO]->[READY]
[WAITING_FOR_CUP]-cup placed on scale>[POURING]
[POURING]-next bottle>[POURING]
[POURING]-finished pouring>[ENJOY]
[POURING]-finished pouring but inaccurate>[ERROR POURING_INACCURATE]
[ERROR POURING_INACCURATE]-take cup>[READY]
[POURING]-ABORT>[READY]
[POURING]->[ERROR other_error]
[ERROR other_error]->[READY]
[ENJOY]-take cup>[READY]
[READY]->[READY]
[POURING]->[ERROR CUP_GONE]
[POURING]->[ERROR BOTTLE_EMPTY]
[ERROR BOTTLE_EMPTY]-RESUME>[POURING]
[ERROR CUP_GONE]->[WAITING_FOR_CUP]
Pre-rendered PNG: http://yuml.me/662bff34 (created 2014-05-04, may be out of date)
- Scale pinout diagram
- Eagle Schematics (TODO)
- Eagle Layout (TODO) In the Documentation folder
- ino quickstart http://inotool.org/quickstart
- ADS1231 datasheet http://www.ti.com/lit/ds/symlink/ads1231.pdf
- Working version: 1.8.9
- Board: Arduino/Genuino Mega or Mega 2560
- Processor: AtMega 2560 (Mega 2560)
- Programmer: Atmel STK500 developer board
- Terminal: "Both Nl & CR" / 9600 baud