Programs/Code

#define stepPerRev 800 // 800 FOR BIG Motor to TRAVEL 0.4mm,

(Adjustable, different motors have different step sizes, and increase to increase travel distance.)

void setup() {

// put your setup code here, to run once:

pinMode(2, OUTPUT); // DIR+

pinMode(3, OUTPUT); // PUL+

}

void loop() {

// put your main code here, to run repeatedly:

for (int i = 0; i < 1*stepPerRev; i++) {

digitalWrite(2, HIGH); // CONTROL DIRECTION OF MOTOR

digitalWrite(3, LOW);

digitalWrite(3, HIGH);

delayMicroseconds(1000); // CONTROL SPEED OF MOTOR

}

delay(1000); // PAUSE FOR 1000 Milliseconds

for (int i = 0; i < 1*stepPerRev; i++) {

digitalWrite(2, LOW); // CONTROL DIRECTION OF MOTOR

digitalWrite(3, LOW);

digitalWrite(3, HIGH);

delayMicroseconds(100); // CONTROL SPEED OF MOTOR

}

delay(1750); // PAUSE FOR 1750 Milliseconds

while(1){ // This while loop stops the code from looping so

} // delete this to run continuously

}

// Email yuj025@ucsd.edu if you have any questions. (Email account may expire after 2024)

____________________________________________________________________________________________________________________________

____________________________________________________________________________________________________________________________

#define stepPerRev 2427 // 2427 FOR SMALL TRAVEL 1 mm.

(Adjustable, different motors have different step sizes, and increase to increase travel distance.)

void setup() {

// put your setup code here, to run once:

pinMode(2, OUTPUT); // DIR+

pinMode(3, OUTPUT); // PUL+

}

void loop() {

// put your main code here, to run repeatedly:

for (int i = 0; i < 1*stepPerRev; i++) { // 32000 is for max loop size.

digitalWrite(2, HIGH); // CONTROL DIRECTION OF MOTOR

digitalWrite(3, LOW);

digitalWrite(3, HIGH);

delayMicroseconds(100); // CONTROL SPEED OF MOTOR, ALL > 50

}

delay(1750); // Adjustable.

while(1){ // This while loop stops the code from looping so

} // delete this to run continuously

}

// Email yuj025@ucsd.edu if you have any questions. (Email account may expire after 2024)

// Daniel Acosta

// daacosta@ucsd.edu or daacosta.mae@gmail.com

// MAE 156 - Cohu Pin Project

// UCSD - Winter 2024

// This code is used to run the force inspection subsystem.

// 1) It will read the load applied to a Futek S-Beam Load Cell.

// 2) It will read that value to a digital display.

// 3) A motor controller will also move the entire load cell 0.4mm

// Inspiration for the code has been taken from example codes

// shared by Arduino and board Manufacturers.

// Resource from SparkFun:

// https://learn.sparkfun.com/tutorials/load-cell-amplifier-hx711-breakout-hookup-guide/all

//Defining all things for SparkFun Load Cell Amplifier compatibility:

#include "HX711.h"

// Define Calibration Factor for load cell:

#define cal_factor -62500 // Change to calibrate readings 

#define Dout 3 // Dout Pin

#define CLK  2 // CLK Pin

HX711 scale;

// Defining all things for 1602 Serial LCD Module Display:

#include <Wire.h>

#include <LiquidCrystal_I2C.h>

LiquidCrystal_I2C lcd(0x27, 16, 2); // Defining I2C address and size of LCD

// Defining everything to run motor controller:

#define stepPerRev 4000 // Defines the travel of the motor, changing depending on motor.

const int DirP = 8;

const int PulP = 9;

void setup() {

  // put your setup code here, to run once:

  Serial.begin(9600);

  // Initializing SparkFun AMP:

  scale.begin(Dout, CLK);

  scale.tare(); // tares load cell upon start up

  scale.set_scale(cal_factor); // Setting Calibration factor

  Serial.println("Readings");

  // Initializing LCD:

  lcd.init();

  lcd.backlight();

  // Initializing Motor Controller:

  pinMode(DirP, OUTPUT);

  pinMode(PulP, OUTPUT);

}

void loop() {

  // put your main code here, to run repeatedly:

  Serial.println("Going Back");

  for (int i = 0; i < 1 * stepPerRev; i++) {

    digitalWrite(DirP, HIGH); // CONTROL DIRECTION OF MOTOR

    digitalWrite(PulP, LOW);

    digitalWrite(PulP, HIGH);

    delayMicroseconds(100); // CONTROL SPEED OF MOTOR

  }

  float x = scale.get_units(); // 1 of 3 differnt measuring points 

  Serial.print(x, 2); // I believe the last number is the amount if float it returns.

  Serial.println("gF");

  Serial.println();

  float y = scale.get_units(); // 2 of 3 differnt measuring points

  Serial.print("Y = ");

  Serial.println(y, 2);

  delay(2000);

  float z = scale.get_units(); // 3 of 3 differnt measuring points

  Serial.print("Z = ");

  Serial.println(z, 2);

  Serial.println("Going Foward");

  for (int i = 0; i < 1 * stepPerRev; i++) {

    digitalWrite(DirP, LOW); // CONTROL DIRECTION OF MOTOR

    digitalWrite(PulP, LOW);

    digitalWrite(PulP, HIGH);

    delayMicroseconds(100); // CONTROL SPEED OF MOTOR

  }

  delay(1500); // PAUSE FOR 1750 Milliseconds

  lcd.setCursor(0, 0);

  lcd.print("Force:");

  lcd.setCursor(7, 0);

  lcd.print(y, 3);

  lcd.setCursor(14, 0);

  lcd.print("gF");

  // If statement for checking inspection!

  if ( y > 30.0 || y < 20.0) {

    lcd.setCursor(0, 1);

    lcd.print("Fail Inspection!");

  }

  else {

    lcd.setCursor(0, 1);

    lcd.print("Pass Inspection!");

  }

}

#define stepPerRev 1818

const int buttonPin1 = 9;  // the number of the pushbutton pin

const int buttonPin2 = 10;

const int buttonPin3 = 13;

const int buttonPin4 = 12;

const int buttonPin5 = 11;

const int in1 = 6;    // the number of the LED pin

const int in2 = 7;

const int Pump = 8;

const int Right = 2;

const int Left = 3;

int buttonState1 = 0;  // variable for reading the pushbutton status

int buttonState2 = 0;

int buttonState3 = 0;

int buttonState4 = 0;

int buttonState5 = 0;

void setup() {

  // put your setup code here, to run once:

 pinMode(in1, OUTPUT);

 pinMode(in2, OUTPUT) ; 

 pinMode(Pump, OUTPUT) ;

 pinMode(Right, OUTPUT) ; 

 pinMode(Left, OUTPUT) ;

  // initialize the pushbutton pin as an input:

  pinMode(buttonPin1, INPUT);

  pinMode(buttonPin2, INPUT);

  pinMode(buttonPin3, INPUT);

  pinMode(buttonPin4, INPUT);

  pinMode(buttonPin5, INPUT);

}

void loop() {

  buttonState1 = digitalRead(buttonPin1);

  buttonState2 = digitalRead(buttonPin2);

  buttonState3 = digitalRead(buttonPin3);

  buttonState4 = digitalRead(buttonPin4);

  buttonState5 = digitalRead(buttonPin5);

  // Linear Slider Control

 // Check if the pushbutton is pressed. If it is, the buttonState is HIGH:

  if (buttonState1 == HIGH) {

    digitalWrite(in1, HIGH);

    digitalWrite(in2, LOW);}

    if (buttonState2 == HIGH) {

      digitalWrite(in1, LOW);

       digitalWrite(in2, HIGH);

      }

// Pump Control

 if (buttonState3== HIGH) {

  digitalWrite(8, HIGH); }

  else      

    digitalWrite(8, LOW);

// Stepper Motor Control

 if (buttonState4 == HIGH) {

  for (int i=0 ; i < stepPerRev; i++) {

  digitalWrite(2, HIGH); // CONTROL DIRECTION OF MOTOR

  digitalWrite(3, LOW);

  digitalWrite(3, HIGH);

  delayMicroseconds(50);  // MOTOR SPEED

   } 

  delay(1000) ;

 }

 if (buttonState5 == HIGH) {

  for (int i=0 ; i < stepPerRev; i++) {

  digitalWrite(2, LOW); // CONTROL DIRECTION OF MOTOR

  digitalWrite(3, LOW);

  digitalWrite(3, HIGH);

  delayMicroseconds(50);   // MOTOR SPEED

   } 

  delay(1000) ;

  }

 }