Differences

This shows you the differences between two versions of the page.

--- granular_gripper [2019/07/29 15:57] – [Circuit] yuhanghe
+++ granular_gripper [2019/07/29 16:21] – [Programming] yuhanghe
@@ Line 118: / Line 118: @@
 ==== Programming ====
-A link to the source code can be found <provide URL to your code, probably saved in this DASL Wiki>.
+A link to the source code can be found {{:yuhang:gripper:vacuum_control1.zip| Arduino Code}}
 \\
-The goal of the code is <brief explanation>.  It works in the following way
+<code cpp | Switch.ino>
-\\
+  String input; // for incoming serial data
-----
+  int command;
-<!- Insert a snippet of your code here.  Try to keep to less than 0.5 page long -->
+  bool vac = false; //Switch condition for vacuum
-----
+  bool blow = false; //Switch condition for blow off
-\\
+  bool off = true; //Switch condition for off
-The snippet above serves to <fill in the blank>. It does this by <fill in the blank>.
-\\
+void setup() {
-----
+  Serial.begin(9600); // opens serial port, sets data rate to 9600 bps
-<!- Insert another snippet of your code here.  Try to keep to less than 0.5 page long -->
+  pinMode(8, OUTPUT); //Assign port 8 and 9 as digital output
-----
+  pinMode(9, OUTPUT);
-Next, the code does <fill in the blank>.  It does this by <fill in the blank>.
+  digitalWrite(9, HIGH);
-<!-- Keep entering snippets of code and descriptions until you've given enough for a reader to understand how it works -->
+  digitalWrite(8, HIGH);
+}
+void loop() {
+  // send data only when you receive data:
+  if (Serial.available() > 0) {
+    // read the incoming string:
+    input = Serial.readString();
+    // read input data from the serial monitor
+    command = input.toInt();
+    // enter a command of 1 to turn on and off vac
+      if (command == 1) {
+        vac = !vac;
+      }
+    // enter a command of 3 to turn on and off blow off
+      if (command == 3) {
+        blow = !blow;
+      }
+      /*Serial.print("vac: ");
+      Serial.println(vac);
+      Serial.print("blow: ");
+      Serial.println(blow);
+      Serial.print("off: ");
+      Serial.println(off);*/
+    if (vac && blow || !vac && !blow) {
+      vac = false;
+      blow = false;
+      Serial.println("off");
+      // due to circuit design, a HIGH digital output corresponds to off for the ejector signal
+      digitalWrite(9, HIGH);
+      digitalWrite(8, HIGH);
+    }
+    else if (blow) {
+      Serial.println("blow on");
+      // digital pin 8 is connected to blow off
+      digitalWrite(8, LOW);
+      digitalWrite(9, HIGH);
+      delay(300);
+      digitalWrite(8, HIGH);
+      blow = false;
+      vac = false;
+      Serial.println("off");
+    }
+    else if (vac) {
+      Serial.println("vacuum on");
+      // digital pin 9 is connected to vacuum
+      digitalWrite(9, LOW);
+      digitalWrite(8, HIGH);
+    }
+  }
+}
+</code>
+The command for the ejector controller is entered through Serial Monitor on the Arduino IDE accessed through the Tools menu on the top of IDE.
+Enter 1 in the command line to turn on vacuum.
+{{ :yuhang:gripper:vacuum_on.png |}}
+Enter 3 in the command line for a short blow off.
+{{ :yuhang:gripper:blow_off.png |}}
 //
 //