bill_feed-dispencer.ino

//https://github.com/zethra/aquqbot2
#include <Servo.h>
//#include <toneAC.h>
#include "pitches.h"

#define READY 0
#define GETTING 1
#define DISPENSING 2
#define DONE 3

#define IRPIN 23
#define PHOTOPIN 22
#define BILLPIN 24
#define SERVOPIN 26
#define LEDPIN 6

Servo servo;

int ledState = 0;
int irState = 0;
int photoState = 0;

int billPower = 0;
int servoPos = 45;

int servoState = 0;
int servoWait = 0;

int state = 0;

char* actionText;

void setup(){
  Serial.begin(9600);
  Serial.println("Running Setup");
  
  servo.attach(SERVOPIN);
  
  //Inputs
  pinMode(IRPIN, INPUT);
  pinMode(PHOTOPIN, INPUT);
  
  //Outputs
  pinMode(BILLPIN, OUTPUT);
  pinMode(LEDPIN, OUTPUT);
  
}

void loop(){
  unsigned long now = millis();
  sensorUpdate(now);
  motorUpdate(now);
  ledUpdate(now);
  printUpdate(now);
  //Serial.println(state);
  switch(state){
    case READY:
      if(irState == LOW){
        state = GETTING;
      }
      actionText = "Ready.";
      servoState = 0;
      servoWait = 0;
      return;
    case GETTING:
      billPower = 255;
      if(photoState == HIGH) {
        state = DISPENSING;
      }
      actionText = "Bill Detected";
      return;
    case DISPENSING:
      if(photoState == HIGH){
        actionText = "Waiting for Bill";
        return;
      }else{
        billPower = 0;
        dispense(now);
      }
      return;
        
    case DONE:
      Serial.println("Thank you and have a nice day.");
      //toneAC(300);
      state = READY;
      return;
  }
}

void sensorUpdate(unsigned long now){
  static unsigned long sensorMillis = 0UL;
  
  if(now - sensorMillis >= 10UL){
    irState = digitalRead(IRPIN);
    photoState = digitalRead(PHOTOPIN);
    sensorMillis = now;
  }
}

void motorUpdate(unsigned long now){
  static unsigned long motorMillis = 0UL;
  
  if(now - motorMillis >= 10UL){
    analogWrite(BILLPIN, billPower);
    servo.write(servoPos);
    motorMillis = now;
  }
}

void ledUpdate(unsigned long now){
  static unsigned long ledMillis = 0UL;
  
  if(now - ledMillis >= 1000UL){
    if(ledState == HIGH){
      ledState = LOW;
    }else if(ledState == LOW) {
      ledState = HIGH;
    }
    digitalWrite(LEDPIN, ledState);
    ledMillis = now;
  }
}

void printUpdate(unsigned long now){
  static unsigned long printMillis = 0UL;
  
  if(now - printMillis >= 10UL){
    Serial.print("State: ");
    Serial.print(state);
    Serial.print(" | IR State: ");
    Serial.print(irState);
    Serial.print(" | Photo State: ");
    Serial.print(photoState);
    Serial.print(" | Motor Power: ");
    Serial.print(billPower);
    Serial.print(" | Servo Position: ");
    Serial.print(servoPos);
    Serial.print(" | Led State: ");
    Serial.print(ledState);
    Serial.print(" | Action: ");
    Serial.print(actionText);
    Serial.println();
    printMillis = now;
  }
}

void dispense(unsigned long now){
  //for (servoPos = 5; servoPos < 85; servoPos++){}
  //for (servoPos = 85; servoPos > 5; servoPos--){}
  
  static unsigned long servoMillis = 0UL;
  
  if(now - servoMillis >= 10UL){
    
    sprintf(actionText, "Dispensing: ""%d", servoState);
    
    if(servoState == 0){
      if(servoPos < 135){
        servoPos++;
      }else{
        servoState = 1;
      }
    }
    
    if(servoState == 1){
      if(servoWait < 40){
        servoWait++;
      }else{
        servoState = 2;
      }
    }
    
    if(servoState == 2){
      if(servoPos > 45){
        servoPos--;
      }else{
        servoState = 3;
      }
    }
    
    if(servoState == 3){
      state = DONE;
    }
    servoMillis = now;
  }
  
}