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3.0 Videos

5.0 Circuit Diagram

6.0 Assembly

7.0 Code

  

#include  //needed to drive motor
#include  //acceleration library is smoothest
#include  //needed for circuits
#include  //needed w LCD 12C Library 


LiquidCrystal_I2C LCD(0x27, 16, 2); //usual address of LCD Screen with pixels (width, height)IW

AF_Stepper motor1(200,2);  //200 steps/rev w motor; Motor connected to port 2 (M3/M4)
void forwardstep() {  //wrapping the AFmotor lib for use with accel stepper for forward motion
  motor1.onestep(FORWARD, SINGLE);
}

void backwardstep() {   //wrapping the AFmotor lib for use with accel stepper for backward motion
  motor1.onestep(BACKWARD, SINGLE);
}

AccelStepper motor(forwardstep,backwardstep); //initializing motor as object in accel stepper

int Pot1; //potentiometer 1  (Time: A2 (min))
int Pot2; //potentiometer 2 (Distance: A3 (mm))
int button = A0; //button on analog pin A0
int Time; //Time variable
int RemTime; // Remaining Time
float Dist; // Distance variable (mm)
float mmperRev = 20; //mm in 1 rev of dowel (2*pi*r) r =3.175 (dowel diameter/2)
int numRevs;
 
void setup()  
{
  LCD.backlight(); //turn on LCD backlight
  Serial.begin(9600); // IW begin serial communication (9600 for LCD)
  pinMode(button,INPUT); // IW initialize button as input
  LCD.begin();//Initializing display iw
  delay(500); // IW delay 500ms
  LCD.clear();// IW clear screen
  motor.disableOutputs();//disable motor function
  delay(500); // delay
}
 
void loop() // run over and over
{
  
  while (!digitalRead(button))  { //while button NOT pressed (because it is "normally open" button)
  motor.disableOutputs();
  Pot1 = 1023-analogRead(A1); //// IW finding time from pot 1
  int val = 180*(float(Pot1)/1023);// IW finding time
  Time = (val-(val%5)+5); // IW finding time
  Pot2 = 1023-analogRead(A2);// IW finding dist (A1 on right dip controller/A3 on left dip controller)
  Dist = Pot2*0.01*16.49; 
  // the distance values (mm) displayed on the LCD screen. If you want the dip station to go farther, increase the multipliers here. Current range: up to 160cm.
  LCD.clear(); //clear screen 
  LCD.setCursor(0,0); //1st row 1st column
  LCD.print("Time: ");
  LCD.print(Time); //print time
  LCD.print(" minutes"); 
  LCD.setCursor(0,1); //1st column second row
  LCD.print("Dist: "); //print distance
  //if (Dist<10.5)  {
    //LCD.print(0);
  //}
  LCD.print(Dist,1);
  LCD.print(" mm");
   
  delay(100);
  }
  LCD.clear();  
  delay(500);
  while (digitalRead(button)); //after button has been pressed (5V goes to A0). 
  LCD.setCursor(0,0); 
  LCD.print("Remaining Time:"); //print time
  long T = millis();
  float numRevs = Dist/mmperRev; //total number of revs (total distance/mm per rev)
  int numSteps = ceil(numRevs*200); //total number of steps (total revs *200 bc 200 steps/rev)
  float seconds = Time*60; //minutes to seconds (total time)
  float velocity = numSteps/seconds; //find velocity (steps per second).
  motor.setSpeed(velocity);  //set speed of motor to this constant velocity value.
  motor.enableOutputs();
  do { //do while loop. loop exits when remaining time reaches 0.
  RemTime = Time-((millis()-T)/60000); //calculate remaining time.
  LCD.setCursor(0,1);
  LCD.print(RemTime);
  LCD.print(" min "); //print remaining time
  //motor.setSpeed(steps/second);
  
  motor.runSpeed(); //run the motor at the set velocity at the end of each iteration of loop.
  
} while (RemTime > 0); //do loop while remaining time is greater than 0.
  LCD.clear();
  while (RemTime = 0) {
  motor.disableOutputs();// after loop disable motor to save power
  delay(500);
  LCD.setCursor(0,0);
  LCD.print("Complete!");
  LCD.clear();
  LCD.setCursor(0,1);
  LCD.print("Please Reset");
  delay(5000);
  //wait for user to hit reset button
  }
  
}