Draft code

Code to measure grass biomass using an Arduino and various sensors

grass_stick4.ino

@@ -0,0 +1,211 @@
+
+/*
+ Reads encoder position and distance sensors 
+ to capature data about grass biomass via grass sward density measurements.
+ Code for Arduino Leanardo with SD shield and sensor shield V4
+ 
+ 
+ Written by John Carter 
+ 
+ Data is collected (in 20, 'n_pos' angle bins) while encoder swich is pressed
+ Direction (which position) does not really matter, just binning up readings to make sure a representative sample
+ as could record endlessly in just one direction giving a false impression of sward (biomass) density.
+ 
+ When button is released data is written to SD, and serial (potentially calibration calculations done) 
+ Code needs lots of clean up and further testing 
+ Needs some leds / buzzer to show state for later on
+ (1) Sampling but not enough samples (flashing green)
+ (2) Sampling in current position is adequate (buzz?) (solid green)
+ (3) Data is stored / not currently measuring but site is inadequately sampled (flashing orange)
+ (4) Site sampling running mean is stable and > 10 sample sites (orange + gereen solid)
+ (5) Site data completed written to file (double click ??) ready for next paddock/treatment
+ 
+ Sensors so far: 
+ Encoder with switch for position KY-040 (20 positions)
+ Distance sensors (4 planned) E18-D80NK-N Adjustible Infrared Sensor  
+ 
+ 
+ */
+// include the SD library:
+#include <SPI.h>
+#include <SD.h>
+// set up variables using the SD utility library functions:
+//Sd2Card card;
+//SdVolume volume;
+//SdFile root;
+File OutFile;
+// change this to match your SD shield or module;
+// Arduino Ethernet shield: pin 4
+// Adafruit SD shields and modules: pin 10
+// Sparkfun SD shield: pin 8
+const int chipSelect = 4;    
+
+
+// Pin 13 has an LED connected on most Arduino boards.
+// give it a name:
+int led = 13;
+
+// the setup routine runs once when you press reset:
+void setup() {                
+  // initialize the digital pin as an output.
+  Serial.begin(9600); // Open serial monitor 
+  delay(500);
+  Serial.println("connected");  
+  delay(500);
+  pinMode(SS, OUTPUT);
+
+  Serial.println("\nInitializing SD card...");
+  delay(500);
+
+  // we'll use the initialization code from the utility libraries
+  // since we're just testing if the card is working!
+  SD.begin(4);
+  delay(1500);
+  Serial.println("SD card initialised");  
+  delay(2500);  
+
+  pinMode(led, OUTPUT);  
+  pinMode(2, INPUT);         //encoder channel 1 SW
+  pinMode(3, INPUT);         //encoder channel 2 DT
+  pinMode(7, INPUT_PULLUP);  //encoder integrated swich SW
+}
+
+// main area for declaring variables and initialising
+ int dist1;         // stores state of analog read low = nearby, high values further than threshold sort of binary
+ int dist2;
+ int recording;      // still acquiring data to fill rotations at this point
+ int p1;             //  encoder position indicator for change
+ int p2;             //  encoder position indicator direction change
+ int last_p1 = LOW;  //  encoder last position indicator
+ int encoder_pos;    // which on of the n_pos positions am i in 
+ int done;           // 
+ int placements = 0; // How many locations have been measured (n > =30 for good stats)
+ int adequate = 0;   // stores how mych of 360 degree circle samoled (n_pos positions)
+ int n_pos = 19;     // number of encoder posotions -1 
+ float pcnt_hits;    // percentage of "hits" / sample
+ bool  debug;        // turn on debugging to serial line to PC
+
+ // arrays to hold count of positions sampled and hits at each of 4 heights 
+ int counts[] =  {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0};
+ int height1[] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0}; 
+ int height2[] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0}; 
+ int height3[] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0}; 
+ int height4[] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0}; 
+
+// the MAIN loop routine runs over and over again forever! at this stage:
+
+void loop() {
+  recording = digitalRead(7); // on/off
+
+  if (recording == 0){
+     digitalWrite(led, HIGH);   // turn the LED on (HIGH is the voltage level)
+     Serial.print("Recording = ");
+     Serial.println(recording);
+     done = 0; // for storing or uploading to pc
+     last_p1 = p1;
+     p1   = digitalRead(2);
+     p2   = digitalRead(3);
+
+//////////////////// DIAGNOSTIC /////////////////////     
+  Serial.print(" P1 = ");
+  Serial.print (p1);
+  Serial.print(" P1_Last ");
+  Serial.print (last_p1);
+  Serial.print (" P2 = ");
+  Serial.print (p2);
+  Serial.println(" ");
+  delay(10);               // wait for a second UNITS are miliseconds
+
+//////////////////// DIAGNOSTIC /////////////////////     
+
+     delay(2);
+     if((last_p1 == LOW) && (p1 == HIGH)){
+       if (p2 == LOW) {
+         encoder_pos --;
+         if(encoder_pos < 0) {
+           encoder_pos = n_pos;
+         } // loop counter around so is always in range 1-20 (0-19 actually)
+      } else { // not backwards but forwards rotation
+         encoder_pos ++; 
+         if(encoder_pos > n_pos) {
+           encoder_pos = 0;
+         } // loop counter around so is always in range 1-20 (0-19 actually)
+      }
+      }  //  a change has happened in encoder position
+     Serial.print("Encoder Position = "); 
+     Serial.println(encoder_pos);
+     dist1 = analogRead(0);
+     dist2 = analogRead(1);
+//     dist1 = 55;
+     Serial.print ("Distance Sensor 1  = ");
+     Serial.println( dist1);
+     if( dist1 > 50) {
+        height1[encoder_pos] = height1[encoder_pos] + 1; 
+     }
+     if( dist2 > 50) {
+        height2[encoder_pos] = height2[encoder_pos] + 1; 
+     }
+
+     counts[encoder_pos] = counts[encoder_pos] + 1;
+
+     for (int n=0; n <= n_pos;n++){  // printout data count and hits for 0-19 positions
+       if(counts[n] > 1) {
+         adequate = adequate + 1;
+       }
+     }
+
+    if(adequate > n_pos + 1) {
+//   BUZZ OR CHANGE A LED HERE   // adequately sampled all bins/segments/encoder_positions have data
+     Serial.print("POINT SAMPLE ADEQUATE  ");
+    } 
+
+    }  // end of loop for resording switch is on
+
+  if (recording == 1 && done == 0)
+    {digitalWrite(led, LOW);   // turn the LED off  
+     placements = placements + 1;    
+     Serial.print("ENDED COLLECTING POINT DATA PLACEMENT = ");
+     Serial.println(placements);
+
+     OutFile = SD.open("Grass1.txt", FILE_WRITE);
+     Serial.print("opened data file:  ");
+     Serial.println(OutFile);  
+     OutFile.print(placements);
+     OutFile.println(" th Placement"); 
+     delay(1000);
+
+
+
+     for (int n=0; n <= n_pos;n++){  // printout data count and hits for 0-19 positions
+        Serial.print("POSN ");     
+        Serial.print(n);
+        Serial.print(" KNTS ");
+        Serial.print(counts[n]);
+        Serial.print(" HITS  ");         
+        Serial.print(height1[n]); 
+        Serial.print("  ");          
+        Serial.println(height2[n]);  
+        pcnt_hits = 0.0;
+        if(counts[n] > 0) {
+          pcnt_hits = height1[n] / counts[n];
+        }
+        OutFile.println(height2[n]); 
+
+        counts[n]  = 0;
+        height1[n] = 0;
+        height2[n] = 0;        
+     } //end loop through data for N encoder positions   
+        OutFile.close();     
+        Serial.println("File closed ENDED RETURN OF DATA  ");  
+        delay(5000);    
+        if (placements == 20) {
+          Serial.println("Done 20 Collections ");  
+          delay (20000);
+        }  
+
+
+        done = 1;        
+     } // case not recording and output done
+
+   }   // END OF LOOP STRUCTURE
+