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#include <LiquidCrystal_I2C.h>
LiquidCrystal_I2C lcd(0x27, 20, 4); // define display size
// set Arduino pins for LEDs and Limit switche
#define RED_LED 5
#define GREEN_LED 8
#define LIMIT_NC 11
#define LIMIT_NO 12
#define PUSH_BUTTON 9
// set Stepper Motor pins
#define dirPin 6 // direction pin
#define stepPin 7 // pulse pin
// set Rotary Encoder pins
#define ENC_SW 4 // switch pin
#define ENC_DT 3 // data pin
#define ENC_CLK 2 // clk pin
// Define variables
int seconds_left = 30; // count down time in second
int interval_time = 10; // stepper motor speed control
int count_time = 0; // calculated time
int holding_time = 10; // holding time in second
// define global variables for save data
unsigned long pre_count_time = 0;
unsigned long previous_time = 0;
unsigned long pre_step_time[10] = { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 };
// operation status
unsigned long counter = 0;
bool main_function = false;
// define button and encoder global variables
int reverse_pulse = 0;
int encoder_counter, main_function_counter, btnState;
int z_value = 0;
int stepper_info_count = 0;
int components_value = 0;
int assemblies_value = 0;
int extra_distance = 0;
// define stepper speed
int normal = 100;
int slow = 200;
// define two distance
int height_reg = 20; // in pulses
int height_slow = 30;
int rotation_max = 0;
// create custom LCD icons
byte up_arrow[]{
B00100,
B01110,
B10101,
B00100,
B00100,
B00100,
B00100,
B00100
};
byte right_arrow[]{
B00000,
B00100,
B00010,
B11111,
B00010,
B00100,
B00000,
B00000
};
void startOperation() {
bootScreen();
delay(3000);
infoScreen();
delay(10);
interval_time = normal;
digitalWrite(dirPin, HIGH);
while (1) {
// Check if 1 second has passed
lcd.setCursor(8, 0);
lcd.print(seconds_left);
unsigned long present_time = millis();
if (present_time - previous_time >= 1000) {
previous_time = present_time;
seconds_left--;
lcd.setCursor(8, 0);
lcd.print(" ");
}
if (seconds_left < 0) {
seconds_left = 0;
}
//run the stepper when conditions are true
digitalWrite(stepPin, LOW);
unsigned long current_time = millis();
if (current_time - pre_step_time[0] > interval_time) {
digitalWrite(stepPin, HIGH);
pre_step_time[0] = current_time;
}
// Check if countdown timer has reached 0 but limit switch not response
if (seconds_left == 0) {
if (digitalRead(LIMIT_NO) == LOW) {
digitalWrite(dirPin, LOW);
digitalWrite(stepPin, LOW);
errorScreen();
delay(10000);
infoScreen();
lcd.setCursor(8, 0);
lcd.print(" ");
lcd.setCursor(8, 0);
lcd.print(seconds_left);
delay(10);
}
while (1) {
digitalWrite(RED_LED, HIGH);
delay(500);
digitalWrite(RED_LED, LOW);
delay(500);
}
}
// Check if limit switch response before countdown timer reach at 0
if (digitalRead(LIMIT_NO) == HIGH && seconds_left != 0) {
digitalWrite(dirPin, LOW);
break;
}
}
if (digitalRead(LIMIT_NO) == 1) {
while (seconds_left != 0) {
// Check if 1 second has passed
lcd.setCursor(8, 0);
lcd.print(seconds_left);
if (millis() - previous_time >= 1000) {
previous_time = millis();
seconds_left--;
lcd.setCursor(8, 0);
lcd.print(" ");
}
if (digitalRead(LIMIT_NO) != 1) {
break;
}
}
// Check if limit switch response
if (digitalRead(LIMIT_NO) == 1 && seconds_left == 0) {
lcd.setCursor(8, 0);
lcd.print(" ");
lcd.setCursor(8, 0);
lcd.print("0");
interval_time = normal;
while (reverse_pulse != 20) {
//stepper run
digitalWrite(dirPin, LOW);
digitalWrite(stepPin, LOW);
unsigned long current_time = millis();
if (current_time - pre_step_time[1] > interval_time) {
digitalWrite(stepPin, HIGH);
reverse_pulse++;
pre_step_time[1] = current_time;
}
}
z_value = 0;
digitalWrite(GREEN_LED, HIGH);
}
}
}
void stepperOperation() {
if (counter > 0 && main_function == true) {
if (main_function_counter != counter) {
main_function_counter = counter;
// main function 1
if (main_function_counter == 1) {
lcd.setCursor(0, 0);
lcd.print(" "); // 20 character
lcd.setCursor(0, 1);
lcd.print(" ");
lcd.setCursor(0, 1);
lcd.print("Homing");
lcd.setCursor(0, 2);
lcd.print(" ");
lcd.setCursor(0, 2);
lcd.print("Move Z-axis:");
lcd.setCursor(13, 2);
lcd.print(z_value);
lcd.setCursor(0, 3);
lcd.print(" ");
lcd.setCursor(0, 3);
lcd.print("Speed reg.:");
lcd.setCursor(13, 3);
lcd.print(normal);
delay(300);
lcd.setCursor(0, 0);
lcd.print("Main");
lcd.setCursor(19, 0);
lcd.write(0);
while (counter == 1) {
if (digitalRead(ENC_SW) == 0 && main_function_counter == 1) {
delay(100);
main_function = false;
resetCounter();
mainScreen();
break;
}
}
}
// Homing function 2
else if (main_function_counter == 2) {
lcd.setCursor(0, 0);
lcd.print(" "); // 20 character
lcd.setCursor(0, 0);
lcd.print("Main");
lcd.setCursor(19, 0);
lcd.write(0);
lcd.setCursor(0, 1);
lcd.print(" ");
lcd.setCursor(0, 2);
lcd.print(" ");
lcd.setCursor(0, 2);
lcd.print("Move Z-axis:");
lcd.setCursor(13, 2);
lcd.print(z_value);
lcd.setCursor(0, 3);
lcd.print(" ");
lcd.setCursor(0, 3);
lcd.print("Speed reg.:");
lcd.setCursor(13, 3);
lcd.print(normal);
delay(300);
lcd.setCursor(0, 1);
lcd.print("Homing");
while (counter == 2) {
if (digitalRead(ENC_SW) == 0 && main_function_counter == 2) {
delay(100);
main_function = false;
resetCounter();
startOperation();
break;
}
}
}
// move z-axis function 3
else if (main_function_counter == 3) {
lcd.setCursor(0, 0);
lcd.print(" "); // 20 character
lcd.setCursor(0, 0);
lcd.print("Main");
lcd.setCursor(0, 1);
lcd.print(" ");
lcd.setCursor(0, 1);
lcd.print("Homing");
lcd.setCursor(0, 2);
lcd.print(" ");
lcd.setCursor(0, 3);
lcd.print(" ");
lcd.setCursor(0, 3);
lcd.print("Speed reg.:");
lcd.setCursor(13, 3);
lcd.print(normal);
delay(300);
lcd.setCursor(0, 2);
lcd.print("Move Z-axis:");
lcd.setCursor(13, 2);
lcd.print(z_value);
while (counter == 3) {
if (digitalRead(ENC_SW) == 0 && main_function_counter == 3) {
delay(100);
resetCounter();
while (1) {
int set_value = getCounter();
lcd.setCursor(13, 2);
lcd.print(" ");
delay(300);
lcd.setCursor(13, 2);
lcd.print(set_value);
delay(300);
z_value = set_value;
if (digitalRead(ENC_SW) == 0) {
break;
}
}
}
}
}
// speed reg. function 4
else if (main_function_counter == 4) {
lcd.setCursor(0, 0);
lcd.print(" ");
lcd.setCursor(0, 0);
lcd.print("Main");
lcd.setCursor(19, 0);
lcd.write(0);
lcd.setCursor(0, 1);
lcd.print(" ");
lcd.setCursor(0, 1);
lcd.print("Homing");
lcd.setCursor(0, 2);
lcd.print(" ");
lcd.setCursor(0, 2);
lcd.print("Move Z-axis:");
lcd.setCursor(13, 2);
lcd.print(z_value);
lcd.setCursor(0, 3);
lcd.print(" ");
delay(300);
lcd.setCursor(0, 3);
lcd.print("Speed reg.:");
lcd.setCursor(13, 3);
lcd.print(normal);
while (counter == 4) {
if (digitalRead(ENC_SW) == 0 && main_function_counter == 4) {
delay(100);
resetCounter();
while (1) {
int set_value = getCounter();
lcd.setCursor(13, 3);
lcd.print(" ");
delay(300);
lcd.setCursor(13, 3);
lcd.print(set_value);
delay(300);
normal = set_value;
if (digitalRead(ENC_SW) == 0) {
break;
}
}
}
}
}
// Speed slow function 5
else if (main_function_counter == 5) {
// slow speed
lcd.setCursor(0, 0);
lcd.print(" ");
// holding time
lcd.setCursor(0, 1);
lcd.print(" ");
lcd.setCursor(0, 1);
lcd.print("Holding time:");
lcd.setCursor(14, 1);
lcd.print(holding_time);
lcd.setCursor(17, 1);
lcd.print("s");
// rotaion reg
lcd.setCursor(0, 2);
lcd.print(" ");
lcd.setCursor(0, 2);
lcd.print("Rotation reg.:");
lcd.setCursor(15, 2);
lcd.print(height_reg);
// rotation slow
lcd.setCursor(0, 3);
lcd.print(" ");
lcd.setCursor(0, 3);
lcd.print("Rotation slow:");
lcd.setCursor(15, 3);
lcd.print(height_slow);
delay(300);
lcd.setCursor(0, 0);
lcd.print("Speed slow:");
lcd.setCursor(12, 0);
lcd.print(slow);
lcd.setCursor(15, 0);
lcd.print("mm/s");
while (counter == 5) {
if (digitalRead(ENC_SW) == 0 && main_function_counter == 5) {
delay(100);
resetCounter();
while (1) {
int set_value = getCounter();
lcd.setCursor(12, 0);
lcd.print(" ");
delay(300);
lcd.setCursor(12, 0);
lcd.print(set_value);
delay(300);
slow = set_value;
if (digitalRead(ENC_SW) == 0) {
break;
}
}
}
}
}
// holding time function 6
else if (main_function_counter == 6) {
lcd.setCursor(0, 0);
lcd.print(" ");
lcd.setCursor(0, 0);
lcd.print("Speed slow:");
lcd.setCursor(12, 0);
lcd.print(slow);
lcd.setCursor(15, 0);
lcd.print("mm/s");
// holding time
lcd.setCursor(0, 1);
lcd.print(" ");
// rotaion reg
lcd.setCursor(0, 2);
lcd.print(" ");
lcd.setCursor(0, 2);
lcd.print("Rotation reg.:");
lcd.setCursor(15, 2);
lcd.print(height_reg);
// rotation slow
lcd.setCursor(0, 3);
lcd.print(" ");
lcd.setCursor(0, 3);
lcd.print("Rotation slow:");
lcd.setCursor(15, 3);
lcd.print(height_slow);
delay(300);
lcd.setCursor(0, 1);
lcd.print("Holding time:");
lcd.setCursor(14, 1);
lcd.print(holding_time);
lcd.setCursor(17, 1);
lcd.print("s");
while (counter == 6) {
if (digitalRead(ENC_SW) == 0 && main_function_counter == 6) {
delay(100);
resetCounter();
while (1) {
int set_value = getCounter();
lcd.setCursor(12, 0);
lcd.print(" ");
delay(300);
lcd.setCursor(12, 0);
lcd.print(set_value);
delay(300);
holding_time = set_value;
if (digitalRead(ENC_SW) == 0) {
break;
}
}
}
}
}
// rotation reg function 7
else if (main_function_counter == 7) {
lcd.setCursor(0, 0);
lcd.print(" ");
lcd.setCursor(0, 0);
lcd.print("Speed slow:");
lcd.setCursor(12, 0);
lcd.print(slow);
lcd.setCursor(15, 0);
lcd.print("mm/s");
// holding time
lcd.setCursor(0, 1);
lcd.print(" ");
lcd.setCursor(0, 1);
lcd.print("Holding time:");
lcd.setCursor(14, 1);
lcd.print(holding_time);
lcd.setCursor(17, 1);
lcd.print("s");
// rotaion reg
lcd.setCursor(0, 2);
lcd.print(" ");
// rotation slow
lcd.setCursor(0, 3);
lcd.print(" ");
lcd.setCursor(0, 3);
lcd.print("Rotation slow:");
lcd.setCursor(15, 3);
lcd.print(height_slow);
delay(300);
lcd.setCursor(0, 2);
lcd.print("Rotation reg.:");
lcd.setCursor(15, 2);
lcd.print(height_reg);
while (counter == 7) {
if (digitalRead(ENC_SW) == 0 && main_function_counter == 7) {
delay(100);
resetCounter();
while (1) {
int set_value = getCounter();
lcd.setCursor(12, 0);
lcd.print(" ");
delay(300);
lcd.setCursor(12, 0);
lcd.print(set_value);
delay(300);
height_reg = set_value;
if (digitalRead(ENC_SW) == 0) {
break;
}
}
}
}
}
// rotation slow function 8
else if (main_function_counter == 8) {
lcd.setCursor(0, 0);
lcd.print(" ");
lcd.setCursor(0, 0);
lcd.print("Speed slow:");
lcd.setCursor(12, 0);
lcd.print(slow);
lcd.setCursor(15, 0);
lcd.print("mm/s");
// holding time
lcd.setCursor(0, 1);
lcd.print(" ");
lcd.setCursor(0, 1);
lcd.print("Holding time:");
lcd.setCursor(14, 1);
lcd.print(holding_time);
lcd.setCursor(17, 1);
lcd.print("s");
// rotaion reg
lcd.setCursor(0, 2);
lcd.print(" ");
lcd.setCursor(0, 2);
lcd.print("Rotation reg.:");
lcd.setCursor(15, 2);
lcd.print(height_reg);
// rotation slow
lcd.setCursor(0, 3);
lcd.print(" ");
delay(300);
lcd.setCursor(0, 3);
lcd.print("Rotation slow:");
lcd.setCursor(15, 3);
lcd.print(height_slow);
while (counter == 8) {
if (digitalRead(ENC_SW) == 0 && main_function_counter == 8) {
delay(100);
resetCounter();
while (1) {
int set_value = getCounter();
lcd.setCursor(12, 0);
lcd.print(" ");
delay(300);
lcd.setCursor(12, 0);
lcd.print(set_value);
delay(300);
height_slow = set_value;
if (digitalRead(ENC_SW) == 0) {
break;
}
}
}
}
}
// rotation max function 9
else if (main_function_counter == 9) {
lcd.clear();
delay(300);
lcd.setCursor(0, 0);
lcd.print("Rotation max.:");
lcd.setCursor(15, 0);
lcd.print(rotation_max);
while (counter == 9) {
if (digitalRead(ENC_SW) == 0 && main_function_counter == 9) {
delay(100);
resetCounter();
while (1) {
int set_value = getCounter();
lcd.setCursor(15, 0);
lcd.print(" ");
delay(300);
lcd.setCursor(15, 0);
lcd.print(set_value);
delay(300);
rotation_max = set_value;
if (digitalRead(ENC_SW) == 0) {
break;
}
}
}
}
}
}
}
}
void encoderOperation() {
if (counter > 0 && main_function == false) {
if (encoder_counter != counter) {
encoder_counter = counter;
if (encoder_counter == 1) {
lcd.setCursor(0, 0);
lcd.print(" "); // 20 character remove
lcd.setCursor(0, 1);
lcd.print(" ");
lcd.setCursor(0, 1);
lcd.print("Counts-Reset");
lcd.setCursor(0, 2);
lcd.print(" ");
lcd.setCursor(0, 2);
lcd.print("Stepper motor");
lcd.setCursor(19, 2);
lcd.write(1);
delay(300);
lcd.setCursor(0, 0);
lcd.print("Infoscreen");
lcd.setCursor(19, 0);
lcd.write(0);
while (counter == 1) {
if (digitalRead(ENC_SW) == 0 && encoder_counter == 1) {
delay(100);
infoScreen();
break;
}
}
}
else if (encoder_counter == 2) {
lcd.setCursor(0, 0);
lcd.print(" ");
lcd.setCursor(0, 0);
lcd.print("Infoscreen");
lcd.setCursor(19, 0);
lcd.write(0);
lcd.setCursor(0, 1);
lcd.print(" ");
lcd.setCursor(0, 2);
lcd.print(" ");
lcd.setCursor(0, 2);
lcd.print("Stepper motor");
lcd.setCursor(19, 2);
lcd.write(1);
delay(300);
lcd.setCursor(0, 1);
lcd.print("Counts-Reset");
while (counter == 2) {
if (digitalRead(ENC_SW) == 0 && encoder_counter == 2) {
delay(100);
lcd.clear();
delay(10);
lcd.setCursor(0, 0);
lcd.print("Do you really want");
lcd.setCursor(0, 1);
lcd.print("to reset all counts?");
lcd.setCursor(16, 2);
lcd.print("No");
resetCounter();
while (1) {
if (counter < 0 || counter > 1) {
resetCounter();
}
if (counter == 1) {
lcd.setCursor(16, 2);
lcd.print(" ");
delay(300);
lcd.setCursor(16, 2);
lcd.print("No");
delay(300);
if (digitalRead(ENC_SW) == 0) {
stepperScreen();
break;
}
} else if (counter == 0) {
lcd.setCursor(3, 2);
lcd.print(" ");
delay(300);
lcd.setCursor(3, 2);
lcd.print("Yes");
delay(300);
if (digitalRead(ENC_SW) == 0) {
components_value = 0;
lcd.clear();
lcd.setCursor(6, 1);
lcd.print("Success!");
delay(1500);
lcd.clear();
mainScreen();
break;
}
}
}
}
}
}
}
else if (encoder_counter == 3) {
lcd.setCursor(0, 0);
lcd.print(" ");
lcd.setCursor(0, 0);
lcd.print("Infoscreen");
lcd.setCursor(19, 0);
lcd.write(0);
lcd.setCursor(0, 1);
lcd.print(" ");
lcd.setCursor(0, 1);
lcd.print("Counts-Reset");
lcd.setCursor(0, 2);
lcd.print(" ");
delay(300);
lcd.setCursor(0, 2);
lcd.print("Stepper motor");
lcd.setCursor(19, 2);
lcd.write(1);
while (counter == 3) {
if (digitalRead(ENC_SW) == 0 && encoder_counter == 3) {
delay(100);
main_function = true;
resetCounter();
stepperScreen();
break;
}
}
}
}
}
void setup() {
Serial.begin(9600);
lcd.init();
lcd.backlight();
lcd.createChar(0, up_arrow);
lcd.createChar(1, right_arrow);
pinMode(RED_LED, OUTPUT);
pinMode(GREEN_LED, OUTPUT);
pinMode(LIMIT_NC, INPUT);
pinMode(LIMIT_NO, INPUT);
pinMode(PUSH_BUTTON, INPUT_PULLUP);
pinMode(stepPin, OUTPUT);
pinMode(dirPin, OUTPUT);
pinMode(ENC_SW, INPUT_PULLUP);
pinMode(ENC_CLK, INPUT);
pinMode(ENC_DT, INPUT);
attachInterrupt(digitalPinToInterrupt(ENC_CLK), readEncoder, FALLING);
startOperation();
}
void readEncoder() {
int dtValue = digitalRead(ENC_DT);
if (dtValue == HIGH) {
counter++; // Clockwise
}
if (dtValue == LOW) {
counter--; // Counterclockwise
}
}
// Get the counter value, disabling interrupts.
// This make sure readEncoder() doesn't change the value
// while we're reading it.
int getCounter() {
int result;
noInterrupts();
result = counter;
interrupts();
return result;
}
void resetCounter() {
noInterrupts();
counter = 0;
interrupts();
}
void loop() {
rotation_max = height_reg + height_slow + extra_distance;
if (main_function == false) {
if (getCounter() > 3 || getCounter() < 0) {
resetCounter();
}
int sw_state = digitalRead(ENC_SW);
if (sw_state == LOW) {
mainScreen();
}
encoderOperation();
}
else if (main_function == true) {
if (getCounter() > 9 || getCounter() < 0) {
resetCounter();
}
stepperOperation();
}
// push button operations
btnState = digitalRead(PUSH_BUTTON);
if (btnState == LOW) {
pressProcess();
}
}
void bootScreen() {
lcd.clear();
delay(10);
lcd.setCursor(6, 1);
lcd.print("BOOT SCREEN");
lcd.setCursor(9, 3);
lcd.print("v1.0");
}
void infoScreen() {
lcd.clear();
delay(10);
lcd.setCursor(0, 0);
lcd.print("Counts: ");
lcd.setCursor(8, 0);
lcd.print(" ");
lcd.setCursor(8, 0);
lcd.print(pre_step_time[0]);
lcd.setCursor(0, 1);
lcd.print("Components:");
lcd.setCursor(12, 1);
lcd.print(components_value);
lcd.setCursor(0, 2);
lcd.print("Assemblies:");
lcd.setCursor(12, 2);
lcd.print(assemblies_value);
}
void errorScreen() {
lcd.clear();
delay(10);
lcd.setCursor(7, 0);
lcd.print("ERROR:");
lcd.setCursor(4, 1);
lcd.print("HOMING FAILED");
lcd.setCursor(0, 2);
lcd.print("CHECK CABLES POWER");
lcd.setCursor(0, 3);
lcd.print("AND SWITCH POSITIONS");
}
void processScreen() {
lcd.clear();
delay(10);
lcd.setCursor(4, 0);
lcd.print("Pressing is");
lcd.setCursor(4, 1);
lcd.print("completed in");
lcd.setCursor(4, 2);
lcd.print(count_time);
lcd.setCursor(7, 2);
lcd.print("seconds");
}
void mainScreen() {
lcd.clear();
delay(10);
lcd.setCursor(0, 0);
lcd.print("Infoscreen");
lcd.setCursor(19, 0);
lcd.write(0);
lcd.setCursor(0, 1);
lcd.print("Counts-Reset");
lcd.setCursor(0, 2);
lcd.print("Stepper motor");
lcd.setCursor(19, 2);
lcd.write(1);
}
void stepperScreen() {
lcd.clear();
delay(10);
lcd.setCursor(0, 0);
lcd.print("Main ");
lcd.setCursor(19, 0);
lcd.write(0);
lcd.setCursor(0, 1);
lcd.print("Homing");
lcd.setCursor(0, 2);
lcd.print("Move Z-axis:");
lcd.setCursor(0, 3);
lcd.print("Speed reg.:");
}
void pressProcess() {
Serial.println("pressProcess");
digitalWrite(GREEN_LED, LOW);
digitalWrite(RED_LED, HIGH);
processScreen();
// plate move down operation start
// regular speed
if (holding_time != 0) {
interval_time = normal;
digitalWrite(dirPin, LOW);
while (height_reg != 0) {
//run the stepper when conditions are true
digitalWrite(stepPin, LOW);
unsigned long current_time = millis();
if (current_time - pre_step_time[2] > interval_time) {
digitalWrite(stepPin, HIGH);
pre_step_time[2] = current_time;
height_reg--;
if (digitalRead(PUSH_BUTTON) == 0) {
duringMoveDown(); // call the move down function during plate move down
}
}
}
// speed slow
interval_time = slow;
digitalWrite(dirPin, LOW);
while (height_slow != 0) {
//run the stepper when conditions are true
digitalWrite(stepPin, LOW);
unsigned long current_time = millis();
if (current_time - pre_step_time[3] > interval_time) {
digitalWrite(stepPin, HIGH);
pre_step_time[3] = current_time;
height_slow--;
if (digitalRead(PUSH_BUTTON) == 0) {
duringMoveDown(); // call the move down function during plate move down
}
}
}
// waiting for limit switch bump
// plate move down stop
// holding time start
if (digitalRead(LIMIT_NO) != HIGH) {
pre_count_time = 0;
while (holding_time != 0) {
unsigned long present_time = millis();
if (present_time - pre_count_time >= 1000) {
pre_count_time = present_time;
holding_time--;
}
}
}
}
// holding stop
// plate start move up
if (holding_time == 0) {
interval_time = normal;
digitalWrite(dirPin, HIGH);
while (height_reg != 0) {
Serial.println("height_reg");
//run the stepper when conditions are true
digitalWrite(stepPin, LOW);
unsigned long current_time = millis();
if (current_time - pre_step_time[4] > interval_time) {
digitalWrite(stepPin, HIGH);
pre_step_time[4] = current_time;
height_reg--;