Programs/Code

#include <AccelStepper.h> // for stepper motor control

#include <Wire.h> // for I2C device

#include <Keypad.h> // for keypad (obviously)

#include <LiquidCrystal_I2C.h> // for LCD I2C adaptor

// Define stepper motor connections and motor interface type.

// Motor interface type must be set to 1 when using a driver:

// stepper 1-5 are spools, stepper 6 loads the wire and 7 loads the pins

#define stepPin1 14

#define dirPin1 15

#define enPin1 16

#define stepPin2 17

#define dirPin2 18

#define enPin2 19

#define stepPin3 20

#define dirPin3 21

#define enPin3 22

#define stepPin4 23

#define dirPin4 24

#define enPin4 25

#define stepPin5 26

#define dirPin5 27

#define enPin5 28

#define stepPin6 29

#define dirPin6 30

#define enPin6 31

#define stepPin7 32

#define dirPin7 33

#define enPin7 34

#define stepPin8 32

#define dirPin8 33

#define enPin8 34

#define stepPin7 32

#define dirPin7 33

#define enPin7 34

#define stepPinID1 48

#define dirPinID1 49

#define enPinID1 50

#define stepPinID2 51

#define dirPinID2 52

#define enPinID2 53

#define motorInterfaceType 1

#define sensorPin1 3

#define sensorPin2 4

#define sensorPin3 5

#define sensorPin4 6

#define sensorPin5 7

#define L1 8

#define L2 9

#define functionPin 43

#define stopItPin 44

#define R1 47// crimp solenoid valve pin

#define conversion 450 // ratio of accelstepper units to inches

#define conversionID 148 // 500 steps = 3.37" +-.02 so 148 steps = 1"

int check1 = 0;

// Create a new instance of the AccelStepper class:

AccelStepper stepper1 =   AccelStepper(motorInterfaceType, stepPin1, dirPin1);

AccelStepper stepper2 =   AccelStepper(motorInterfaceType, stepPin2, dirPin2);

AccelStepper stepper3 =   AccelStepper(motorInterfaceType, stepPin3, dirPin3);

AccelStepper stepper4 =   AccelStepper(motorInterfaceType, stepPin4, dirPin4);

AccelStepper stepper5 =   AccelStepper(motorInterfaceType, stepPin5, dirPin5);

AccelStepper stepper6 =   AccelStepper(motorInterfaceType, stepPin6, dirPin6);

AccelStepper stepper7 =   AccelStepper(motorInterfaceType, stepPin7, dirPin7);

AccelStepper stepperID1 = AccelStepper(motorInterfaceType, stepPinID1, dirPinID1);

AccelStepper stepperID2 = AccelStepper(motorInterfaceType, stepPinID2, dirPinID2);

// Define the pins connected to the keypad

const byte ROWS = 4;

const byte COLS = 4;

char keys[ROWS][COLS] = {

  {'1','2','3','A'},

  {'4','5','6','B'},

  {'7','8','9','C'},

  {'*','0','#','D'}

};

byte rowPins[ROWS] = {38, 37, 36, 35};

byte colPins[COLS] = {42, 41, 40, 39};

// Create the Keypad object

Keypad keypad = Keypad( makeKeymap(keys), rowPins, colPins, ROWS, COLS );

LiquidCrystal_I2C lcd(0x27, 20, 2);

void loadWires(){

  // Run rear motor (ID1) to load wire into place

  digitalWrite(enPinID1, LOW);

  stepperID1.moveTo(5.6*conversionID);

  stepperID1.runToPosition();

  stepperID1.setCurrentPosition(0);

  digitalWrite(enPinID1, HIGH);

}

void dispelWires(){

  // run rear motor (ID1) to respool wire

  digitalWrite(enPinID1, LOW);

  stepperID1.moveTo(-7*conversionID);

  stepperID1.runToPosition();

  stepperID1.setCurrentPosition(0);

  digitalWrite(enPinID1, HIGH);

  // run front motor (ID2) to get rid of wire

  digitalWrite(enPinID2, LOW);

  stepperID2.moveTo(3000);

  stepperID2.runToPosition();

  stepperID2.setCurrentPosition(0);

  digitalWrite(enPinID2, HIGH);

}

void loadPins(){

  digitalWrite(enPin7, LOW); // activate motor

  stepper7.moveTo(400/6); // rotate 1/6 of a rotation (400 steps/)

  stepper7.runToPosition();

  digitalWrite(enPin7,HIGH); // disable stepper

}

float readDecimalNumber() {

  // lcd.print("Set Length"); // SET LENGTH OF WIRE

  Serial.println("Set Length");

  String number = "";

  bool decimalEntered = false;

  while (true) {

    char key = keypad.getKey();

    if (key) {

      if (key == '3') { // If '*' is pressed, it represents the decimal point

        if (!decimalEntered) { // Ensure only one decimal point is entered

          number += '.';

          decimalEntered = true;

        }

      } else if (key == '#') { // If '#' is pressed, exit the loop

        break;

      } else { // If any other key is pressed, add it to the number

        number += key;

      }

    }

  }

  Serial.println(number);

  float output = number.toFloat();

  float unspoolLength = output*conversion;

  return unspoolLength;

}

void sixthRotation() {

  // Move 1/6 of a revolution

  digitalWrite(enPin7, LOW); // activate motor

  stepper7.moveTo(533);

  stepper7.runToPosition();

  digitalWrite(enPin7,HIGH); // disable stepper

}

void function() {

  // press the function button

  digitalWrite(functionPin, LOW);

  delay(1500);

  digitalWrite(functionPin, HIGH);

}

void respool() {

  digitalWrite(dirPin1,LOW);

  while(digitalRead(sensorPin1) == 1){

    digitalWrite(stepPin1,HIGH);

    delayMicroseconds(500);

    digitalWrite(stepPin1,LOW);

    delayMicroseconds(500);

  }

  stepper1.setCurrentPosition(0);

  digitalWrite(dirPin2,LOW);

  while(digitalRead(sensorPin2) == 1){

    digitalWrite(stepPin2,HIGH);

    delayMicroseconds(500);

    digitalWrite(stepPin2,LOW);

    delayMicroseconds(500);

  }

  stepper2.setCurrentPosition(0);

  digitalWrite(dirPin3,LOW);

  while(digitalRead(sensorPin3) == 1){

    digitalWrite(stepPin3,HIGH);

    delayMicroseconds(500);

    digitalWrite(stepPin3,LOW);

    delayMicroseconds(500);

  }

  stepper3.setCurrentPosition(0);

  digitalWrite(dirPin4,LOW);

  while(digitalRead(sensorPin4) == 1){

    digitalWrite(stepPin4,HIGH);

    delayMicroseconds(500);

    digitalWrite(stepPin4,LOW);

    delayMicroseconds(500);

  }

  stepper4.setCurrentPosition(0);

  digitalWrite(dirPin5,LOW);

  while(digitalRead(sensorPin5) == 1){

    digitalWrite(stepPin5,HIGH);

    delayMicroseconds(500);

    digitalWrite(stepPin5,LOW);

    delayMicroseconds(500);

  }

  stepper5.setCurrentPosition(0);

}

void wireFeedForCrimp() {

  if(digitalRead(L1) == 1 && check1 == 0){ // Check for first limit switch

    check1 = 1;// Will continue code, even if wire is short enough to release L1

  }

  if(check1 == 1){ // Start motor so that it will grab wire when it reaches the gears

    stepper6.setSpeed(250); // This speed may need to be adjusted

    stepper6.runSpeed();

    if(digitalRead(L2) == 1){ // Once second limit switch is tripped

      stepper6.stop();

      delay(100);

      stepper6.setMaxSpeed(150);

      stepper6.setAcceleration(50);

      stepper6.setCurrentPosition(0);

      stepper6.moveTo(1020); // Change this value to change how much wire is fed for crimping

        while(stepper6.distanceToGo() != 0){

          stepper6.run();

        }

      delay(1000);

      digitalWrite(R1, LOW); // Crimp the pin

      delay(4000);

      digitalWrite(R1, HIGH);

      stepper6.setMaxSpeed(800); // Expel the wire

      stepper6.setSpeed(750);

      int time1 = 0;

      int time2 = 0;

        while(digitalRead(L1) == 1){ // These two while loops expel the wire until it is free of the stepper motor regardless of the wire length

          stepper6.runSpeed();

        }

        time1 = millis();

        while(time2 < 3000){

          stepper6.runSpeed();

          time2 = millis()-time1;

        }

      // Need to add wire output functionality here(max speed ejection???)

      delay(4000); // process delay; wire is now gone

      check1 = 0; // If wire is gone, this should successfully reset the loop

    }

  }

}

void setup() {

  Serial.begin(9600);

  stepper1.setCurrentPosition(0);

  stepper2.setCurrentPosition(0);

  stepper3.setCurrentPosition(0);

  stepper4.setCurrentPosition(0);

  stepper5.setCurrentPosition(0);

  stepper6.setCurrentPosition(0);

  stepper7.setCurrentPosition(0);

  // set speeds and accelerations of all motors

  stepper1.setMaxSpeed(1000);

  stepper1.setAcceleration(10000);

  digitalWrite(enPin1, HIGH);

  stepper2.setMaxSpeed(1000);

  stepper2.setAcceleration(10000);

  digitalWrite(enPin2, HIGH);

  stepper3.setMaxSpeed(1000);

  stepper3.setAcceleration(10000);

  digitalWrite(enPin3, HIGH);

  stepper4.setMaxSpeed(1000);

  stepper4.setAcceleration(10000);

  digitalWrite(enPin4, HIGH);

  stepper5.setMaxSpeed(1000);

  stepper5.setAcceleration(10000);

  digitalWrite(enPin5, HIGH);

  stepper6.setMaxSpeed(1000);

  stepper6.setAcceleration(10000);

  digitalWrite(enPin6, HIGH);

  stepper7.setMaxSpeed(1000);

  stepper7.setAcceleration(10000);

  digitalWrite(enPin7, HIGH);

  stepperID1.setMaxSpeed(1000);

  stepperID1.setAcceleration(10000);

  digitalWrite(enPinID1, HIGH);

  stepperID2.setMaxSpeed(1000);

  stepperID2.setAcceleration(10000);

  digitalWrite(enPinID2, HIGH);

  Serial.println("Motor Setup Complete");

  // initialize lcd

  // lcd.backlight();

  // lcd.init();

  // lcd.clear();

  Serial.println("LCD Setup Complete");

  // initialize integrated driver relay

  pinMode(enPinID1, OUTPUT);

  digitalWrite(enPinID1,HIGH);

  pinMode(enPinID2, OUTPUT);

  digitalWrite(enPinID2,HIGH);

  pinMode(functionPin, OUTPUT);

  digitalWrite(functionPin, HIGH);

  Serial.println("Setup Complete");

}

void loop() {

  //lcd.setCursor(0,0);

  //lcd.print("Enter Motor:");

  Serial.println("Enter Motor");

  // lcd.setCursor(0,1);

  // lcd.print("1,2,3,4,5");

  char customKey = '\0';

  // Wait for the user to input a valid motor number

  while (customKey < '1' || customKey > '5') {

    customKey = keypad.getKey();

  }

  // USER SELECTS 1

  if(customKey == '1') {

    stepper1.moveTo(10200);

    stepper1.runToPosition();

  }

  // USER SELECTS 2

  else if(customKey == '2') {

    stepper2.moveTo(10200);

    stepper2.runToPosition();

  }

  // USER SELECTS 3

  else if (customKey == '3') {

    stepper3.moveTo(10000);

    stepper3.runToPosition();

   }

  // USER SELECTS 4

  else if(customKey == '4') {

    stepper4.moveTo(10000);

    stepper4.runToPosition();

  }

  // USER SELECTS 5

  else if(customKey == '5') {

    stepper5.moveTo(10000);

    stepper5.runToPosition();

  }

  delay(1000);

  loadWires();

  delay(2000);

  function();

  delay(10000);

  dispelWires();

  respool();

}