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/*
* Pasteextruder
*
*/
#include "configuration.h"
#define SDAPin 18
int Currentstate = 3;
int Requiredstate = 0;
int Motorstate = 0;
const int ledPin = 13; // LED connected to digital pin 13
const int motorstate = 0;
const int analogthreshold = 512;
const int Selectionpin = 7;
const int Powerpin = 6;
const int Motorreverse = 20 ;
/* Definition of extruderstates
0 = Neutral / Exhaust
1 = Extruder 1 Extrude On
2 = Extruder 2 Extrude On
3 = State Unknown / Startup
Definition of Motorstates
-1 = Anticlockwisse
0 = Off
1 = Clockwise
*/
void setup() // run once, when the sketch starts
{
Serial.begin(9600);
Serial.println("Starting");
pinMode(ledPin, OUTPUT); // sets the digital pin as output
pinMode(H1D, OUTPUT);
pinMode(H1E, OUTPUT);
pinMode(H2D, OUTPUT);
pinMode(H2E, OUTPUT);
pinMode(SDAPin, INPUT);
}
int StopMotor(int Motorstate){
int result;
if (Motorstate == 1){
digitalWrite(H1D, 0);
digitalWrite(H2D, 0);
digitalWrite(H1E, HIGH);
digitalWrite(H2E, LOW);
delay(Motorreverse);
digitalWrite(H1E, LOW);
digitalWrite(H2E, LOW);
result = 0;
Serial.println("Motor Stopped from clockwise");
}
if (Motorstate == -1){
digitalWrite(H1D, 1);
digitalWrite(H2D, 1);
digitalWrite(H1E, HIGH);
digitalWrite(H2E, LOW);
delay(Motorreverse);
digitalWrite(H1E, LOW);
digitalWrite(H2E, LOW);
result = 0;
Serial.println("Motor Stopped from anticlockwise");
}
return result;
}
int StartMotor(int RequiredMotorstate){
int result;
if (RequiredMotorstate == 1){
digitalWrite(H1D, 1);
digitalWrite(H2D, 1);
digitalWrite(H1E, HIGH);
digitalWrite(H2E, LOW);
result = 1;
Serial.println("Motor started clockwise");
}
if (RequiredMotorstate == -1){
digitalWrite(H1D, 0);
digitalWrite(H2D, 0);
digitalWrite(H1E, HIGH);
digitalWrite(H2E, LOW);
result = -1;
Serial.println("Motor started anticlockwise");
}
return result;
}
void loop() // run over and over again
{
Serial.println("Current state - ");
Serial.println(Currentstate);
if (analogRead(Powerpin)<analogthreshold){ //If both optoswitches closed, Required state is 1 i.e. Extruder 1 On
Requiredstate=1;
Serial.println("Required state - Extruder 1");
}
if (analogRead(Powerpin)>analogthreshold){ //If both Power is open, direction is closed, Required state is 2 i.e. Extruder 2 On
Requiredstate=2;
Serial.println("Required state - Extruder 2");
}
if(Currentstate == 3){ // At start up, check exhaust is open, if not power the motors. When motor is required to stop, motor is reversed.
Serial.println("State unknown");
if (digitalRead(SDAPin)){
digitalWrite(ledPin, LOW); // sets the LED off
digitalWrite(H1E, LOW); //Kill Power
digitalWrite(H2E, LOW);
if (Motorstate == 1){
Motorstate = StopMotor(Motorstate);
}
Currentstate = 0;
Serial.println("Exhaust Open");
}
else{ //Turn motor clockwise until in neutral position
Motorstate = StartMotor(1);
}
}
if(Requiredstate == 0){
if(Currentstate == 0){
Serial.println("Exhaust Required - Already in Exhaust Position");
}
if(Currentstate == 1){
Serial.println("Exhaust Required - Turn Anticlockwise");
while (digitalRead(SDAPin) == 0) {
Motorstate = StartMotor(-1);
}
Motorstate = StopMotor (Motorstate);
Currentstate = 0;
}
if(Currentstate == 2){
Serial.println("Exhaust Required - Turn clockwise");
while (digitalRead(SDAPin) == 0) {
Motorstate = StartMotor(1);
}
Motorstate = StopMotor (Motorstate);
Currentstate = 0;
}
}
if(Requiredstate == 1){
if(Currentstate == 1){
Serial.println("Extruder 1 Required - Already Selected");
}
if(Currentstate != 1){
Serial.println("Extruder 1 - Turn clockwise");
while ((digitalRead(SDAPin) == 1)) {
Motorstate = StartMotor(1);
}
Motorstate = StopMotor (Motorstate);
Currentstate = 1;
}
}
if(Requiredstate == 2){
if(Currentstate == 2){
Serial.println("Extruder 2 Required - Already Selected");
}
if(Currentstate != 2){
Serial.println("Extruder 2 - Turn anticlockwise");
while ((digitalRead(SDAPin) == 1)) {
Motorstate = StartMotor(-1);
}
Motorstate = StopMotor (Motorstate);
Currentstate = 2;
}
}
}
/*
if(Currentstate == 0){
if(Requiredstate == 0){
if(Motorstate != 0){ //If motor was turning apply break
Motorstate = StopMotor(Motorstate);
}
}
if (Requiredstate == 1){
Motorstate = StartMotor(1);
}
if (Requiredstate ==-1){
Motorstate = StartMotor(-1);
}
}
if(Requiredstate == 1){
if(Currentstate == 1){
Motorstate = StopMotor(Motorstate);
}
if(Motorstate ==1){ //If motor was turning apply break
Motorstate = StopMotor(Motorstate);
Currentstate = 1
}
if(Motorstate ==-1){ //If motor was turning apply break
Motorstate = StopMotor(Motorstate);
Currentstate = 2
}
else {
Motorstate = StartMotor(-1);
}
}
if(Currentstate == 2){
if(Requiredstate == 2){
if(Motorstate != 0){ //If motor was turning apply break
Motorstate = StopMotor(Motorstate);
}
}
else {
Motorstate = StartMotor(1);
}
}
}
*/
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