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// SERVO 44, 45
// DISTANCE 25
// METAL 27
// CONVEYOR 4
// MOISTURE A10
#include <Servo.h>
bool isNotIdle = false;
// Input
int distance = 25;
int metalSensor = 27;
int moisture = A10;
// Output
Servo servo1, servo2;
int conveyor = 7;
// Program
enum Material {
dry = 0, wet = 1, metal = 2, none = 3, unknown = 4,
};
Material material = none;
Material prevMat;
int wetThreshold = 900;
int tickDuration = 100; // Every clock ticks in ms
int conveyorTimer;
int servoTimer;
int wetThresholdCounter;
// Duration for timer to reset. 1 : 100 ms (1 : 0,1 s)
int conveyorDuration = 200;
int servoDuration = 70;
int wetDuration = 7;
// Counting
int total;
int metalPassed;
int wetPassed;
int dryPassed;
// Servo positions
int servo1Init = 40;
int servo1On = 5;
int servo2Init = 60;
int servo2On = 10;
// Turning off conveyor after servoTime == -1
bool justTurnedOff = true;
void setup() {
pinMode(metalSensor, INPUT_PULLUP); digitalWrite(metal, HIGH);
pinMode(moisture, INPUT);
pinMode(distance, INPUT);
pinMode(conveyor, OUTPUT);
servo1.attach(44); servo2.attach(45);
servo1.write(servo1Init); servo2.write(servo2Init);
Serial.begin(9600);
}
void loop() {
int distanceState = !digitalRead(distance);
int metalState = !digitalRead(metalSensor);
int moistureState = analogRead(moisture);
// Checking Logic
if (distanceState) {
conveyorTimer = conveyorDuration;
}
if (metalState) {
servoTimer = servoDuration;
material = metal;
}
if (moistureState <= wetThreshold && material != wet) {
wetThresholdCounter++;
if (wetThresholdCounter >= wetDuration) {
servoTimer = servoDuration;
material = wet;
}
//servoTimer = servoDuration;
//material = wet;
}
// Timer & Logics
if (conveyorTimer >= 0) {
conveyorTimer--;
if (conveyorTimer == conveyorDuration - 1) {
justTurnedOff = false;
}
if (conveyorTimer == 0) {
if (material == none || material == unknown || prevMat == none) {
material = dry;
}
}
} else {
material = none;
}
if (servoTimer >= 0) {
servoTimer--;
if (servoTimer == servoDuration) {
servo1.write(servo1Init);
servo2.write(servo2Init);
}
if (material == metal) {
servo1.write(servo1On);
} else if (material == wet) {
servo2.write(servo2On);
}
} else {
servo1.write(servo1Init);
servo2.write(servo2Init);
if (!justTurnedOff && material != none) {
conveyorTimer = -1;
wetThresholdCounter = 0;
justTurnedOff = true;
}
}
digitalWrite(conveyor, conveyorTimer >= 0);
// Counting
if (prevMat != material) {
if (material == metal) {
metalPassed++;
} else if (material == wet) {
wetPassed++;
} else if (material == dry) {
dryPassed++;
}
total = metalPassed + wetPassed + dryPassed;
prevMat = material;
}
// On or off?
if (conveyorTimer >= 0) {
isNotIdle = true;
} else {
isNotIdle = false;
}
// Debugging
Serial.print("{\"running\":");
Serial.print(isNotIdle);
Serial.print(",\"material\":");
Serial.print(material);
Serial.print(",\"countTotal\":");
Serial.print(total);
Serial.print(",\"countMetal\":");
Serial.print(metalPassed);
Serial.print(",\"countWet\":");
Serial.print(wetPassed);
Serial.print(",\"countDry\":");
Serial.print(dryPassed);
Serial.print(",\"conveyorTimer\":");
Serial.print(conveyorTimer);
Serial.print(",\"servoTimer\":");
Serial.print(servoTimer);
Serial.print(",\"wetTimer\":");
Serial.print(wetThresholdCounter);
Serial.print(",\"distance\":");
Serial.print(distanceState);
Serial.print(",\"moisture\":");
Serial.print(moistureState);
Serial.print(",\"metal\":");
Serial.print(metalState);
Serial.println("}");/*
Serial.print("Distance ");
Serial.print(distanceState);
Serial.print(" Metal ");
Serial.print(digitalRead(27));
Serial.print(" Moist ");
Serial.print(moistureState);
Serial.print(" | Conveyor Timer ");
Serial.print(conveyorTimer);
Serial.print(" Servo Timer ");
Serial.print(servoTimer);
Serial.print(" Wet Timer ");
Serial.println(wetThresholdTimer);*/
delay(tickDuration);
}
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