顆粒狀或粉末狀物質任意比例調配機器Arduino程序代碼

#include <Wire.h>
#include <LiquidCrystal_I2C.h>
#include <Keypad.h>
#include <Servo.h>
extern unsigned long HX711_Read(void);
extern long Get_Weight();
float WEIGHT = 0;
int HX711_SCK =2;   
int HX711_DT= 4;    
long HX711_Buffer = 0;
long Weight_Maopi = 0, Weight_Shiwu = 0;
#define GapValue 405       
LiquidCrystal_I2C mylcd(0x27,16,2);
String item;
volatile int SF;
volatile int CS;
String W;
volatile float Weight;
volatile float SFW;
volatile float CSW;
volatile int DMODE;
Servo servo_A2;
Servo servo_A3;
const byte KEYPAD_4_4_ROWS = 4;
const byte KEYPAD_4_4_COLS = 4;
char KEYPAD_4_4_hexaKeys[KEYPAD_4_4_ROWS][KEYPAD_4_4_COLS] = {
  {'1','2','3','A'},
  {'4','5','6','B'},
  {'7','8','9','C'},
  {'*','0','#','D'}
};
byte KEYPAD_4_4_rowPins[KEYPAD_4_4_ROWS] = {13, 12, 11, 10};
byte KEYPAD_4_4_colPins[KEYPAD_4_4_COLS] = {9, 8, 7, 6};
Keypad KEYPAD_4_4 = Keypad(makeKeymap(KEYPAD_4_4_hexaKeys), KEYPAD_4_4_rowPins, KEYPAD_4_4_colPins, KEYPAD_4_4_ROWS, KEYPAD_4_4_COLS);
void Delete() {
  W = String(W).substring(0,(String(W).length() - 1));
  if (W == "") {
    W = "0";
    Weight = String(W).toInt();
  }
  Weight = String(W).toInt();
}
void Pour() {
  if (!digitalRead(1)) {
    if(Weight == 0 || CS + SF < 100 || Weight >= 700)
    {
      return;
    }
    mylcd.clear();
    WEIGHT = Get_Weight();  
    mylcd.setCursor(10-1, 2-1);
    mylcd.print("/ "+String(round(Weight)));
    while (float(WEIGHT) <= SFW+1) {
      WEIGHT = Get_Weight();  
      mylcd.setCursor(3-1, 1-1);
      mylcd.print("In Progress");
      mylcd.setCursor(4-1, 2-1);
      mylcd.print(String(round(WEIGHT)));
      servo_A2.write(55);
      servo_A3.write(118);
    }
    servo_A2.write(80);
    mylcd.clear();
    WEIGHT = Get_Weight(); 
    mylcd.setCursor(10-1, 2-1);
    mylcd.print("/ "+String(round(Weight)));
    delay(50);
    servo_A3.write(93);
    while (float(WEIGHT) > SFW+1 && float(WEIGHT) < Weight+2) {
      WEIGHT = Get_Weight(); 
      mylcd.setCursor(3-1, 1-1);
      mylcd.print("In Progress");
      mylcd.setCursor(4-1, 2-1);
      mylcd.print(String(round(WEIGHT)));
      servo_A2.write(80);
      servo_A3.write(93);
    }
    if (float(WEIGHT) >= Weight+2) {
      servo_A2.write(80);
      servo_A3.write(118);
    }
    SF = 0;
    CS = 0;
    W = "0";
    Weight = 0;
    mylcd.clear();
    mylcd.setCursor(4-1, 1-1);
    mylcd.print("Finished!");
    delay(2000);
  }
}
void Reset() {
  W = "0";
  Weight = String(W).toInt();
}
void Dmode() {
  if (!digitalRead(5)) {
    if (SF + CS < 100) {
      SF = SF + 2;
    } else if (SF < 100 && CS > 0) {
      SF = SF + 2;
      CS = CS - 2;
    }
  }
  if (!digitalRead(3)) {
    if (SF + CS < 100) {
      CS = CS + 2;
    } else if (CS < 100 && SF > 0) {
      CS = CS + 2;
      SF = SF - 2;
    }
  }
}
long Get_Weight()
{
 HX711_Buffer = HX711_Read();    
 Weight_Shiwu = HX711_Buffer;    
 Weight_Shiwu = Weight_Shiwu - Weight_Maopi; 
 Weight_Shiwu = (long)((float)Weight_Shiwu/GapValue);    
 return Weight_Shiwu; 
}
unsigned long HX711_Read(void) 
{
  unsigned long count;   
  unsigned char i;     
  digitalWrite(HX711_DT, HIGH);   
  delayMicroseconds(1); 
  digitalWrite(HX711_SCK, LOW); 
  delayMicroseconds(1);   
  count=0; 
  while(digitalRead(HX711_DT));    
  for(i=0;i<24;i++)  
  { 
    digitalWrite(HX711_SCK, HIGH); 
  delayMicroseconds(1); 
  count=count<<1;
  digitalWrite(HX711_SCK, LOW);  
  delayMicroseconds(1);
  if(digitalRead(HX711_DT))  
  count++; 
  } 
  digitalWrite(HX711_SCK, HIGH);    
  count ^= 0x800000;   
  
  delayMicroseconds(1);
  digitalWrite(HX711_SCK, LOW);     
  delayMicroseconds(1);  
  return(count);    
}
void setup(){
  servo_A2.write(80);
  delay(5);
  servo_A3.write(118);
  delay(5);
  servo_A2.attach(A2);
  servo_A3.attach(A3);  
  pinMode(HX711_SCK, OUTPUT);  
  pinMode(HX711_DT, INPUT); 
  Serial.begin(9600);
  mylcd.init();
  mylcd.backlight();
  mylcd.setCursor(0, 0);
  mylcd.print("Welcome to use !");
  delay(2000);    
  mylcd.clear();
   
  Weight_Maopi = HX711_Read(); 
  item = "";
  SF = 0;
  CS = 0;
  W = "";
  Weight = 0;
  SFW = 0;
  CSW = 0;
  DMODE = false;  
  pinMode(1, INPUT);
  pinMode(3, INPUT);
  pinMode(5, INPUT);
}
void loop(){
  WEIGHT = Get_Weight();
  Serial.print(round(WEIGHT)); 
  Serial.print(" g\n");
  Serial.print("\n");  
  Serial.println(SFW);
  item = String(KEYPAD_4_4.getKey());
  if (DMODE == true) {
    Dmode();
  }
  if (W == "") {
    W = "0";
    Weight = String(W).toInt();
  }
  if (item == "A") {
    DMODE = false;
    SF = 10;
    CS = 90;
  } else if (item == "B") {
    DMODE = false;
    SF = 50;
    CS = 50;
  } else if (item == "C") {
    DMODE = false;
    SF = 90;
    CS = 10;
  } else if (item == "D") {
    DMODE = true;
  } else if (item == "#") {
    Delete();
  } else if (item == "*") {
    Reset();
  } else {
    if (Weight <= 100) {
      W = String(W) + String(item);
      Weight = String(W).toInt();
    }
  }
  mylcd.setCursor(0, 0);
  mylcd.print(String("WEIGHT:  ") + String(String(int(Weight)) + String("  g")));
  mylcd.setCursor(0, 1);
  mylcd.print(String(String("LF: ") + String(String(SF) + String("%"))) + String(String(String(" RT: ") + String(CS)) + String("%")));
  SFW = float((Weight * SF) / 100);
  CSW = Weight - SF;
  Pour();
  delay(100);  
  mylcd.clear();