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barwin-arduino Build Status

Arduino code for Barwin (former codename evobot) - see http://barwin.suuf.cc/ for more info. This code controls the servos and the scale and communicates with the PC using a serial link.

Dependencies

Debian:

sudo apt-get install make avrdude

See also .travis.yml:

cd /tmp/
wget https://downloads.arduino.cc/arduino-1.8.9-linux64.tar.xz
tar xf arduino-1.8.9-linux64.tar.xz
sudo mv arduino-1.8.9 /opt

(Arduino from apt is way too old, also 1.8.5 seems to make troubles for some reason.)

Compile + Upload + Connect to serial

make

See Makefile for details. Currently mega2560 used, Makefile and upload.sh needs to be adapted (see 0721c72e).

Serial Interface

Timeout for one command: 50 milliseconds (see SERIAL_TIMEOUT in config.h) Terminated using space and \r\n, e.g. to send a command from terminal:

printf "ABORT\r\n" > /dev/ttyACM?

Serial -> Arduino:

Messages received by Arduino. These messages might be called "commands". Note that depending on the current state, only few commands might be available and you will receive an "INVALID_CMD" error if you send other commands. The state diagram might help to figure out when to send which command.

POUR x1 x2 x3 ... x_n
pour x_i grams of ingredient i, for i=1..n; will skip bottle if x_n < UPRIGHT_OFFSET
ABORT
abort current cocktail
RESUME
resume after BOTTLE_EMPTY error, use this command when bottle is refilled
DANCE
let the bottles dance!
TARE
sets scale to 0, make sure nothing is on scale when sending this command Note: taring is deleled, when Arduino is reseted (e.g. on lost serial connection)
TURN bottle_nr microseconds
turns a bottle (numbered from 0 to 6) to a position given in microseconds
ECHO
Example: ECHO ENJOY\r\n Arduino will then print "ENJOY" This is a workaround to resend garbled messages manually. see also: #5
NOP
Arduino will do nothing and send message "DOING_NOTHING". This is a dummy message, for testing only.

Arduino -> Serial:

Messages sent by Arduino. These messages are status messages (or replies to commands).

READY current_weight is_cup_there
current_weight: int
current weight on scale in grams
is_cup_there: int (0-1)
0 if no cup, 1 if cup on scale (Arduino assumes cup is there if weight > WEIGHT_EPSILON)
WAITING_FOR_CUP
...if Arduino wants to pour something, but there is no cup.
POURING bottle weight
Sent before starting to pour bottle (not for skipped bottles).
bottle: int (0-n)
number of bottle (bottles should be numbered from left to right, starting at 0)
weight: int
weight of cup before pouring
ENJOY x1 x2 x3 ... x_n
sent after a successfully mixed cocktail, not sent if poured amount is not accurate enough (insteadan ERROR POURING_INACCURATE will be sent
ERROR error_desc params
error_desc: str
For the full list of Strings see errors.cpp. Important examples:
  • CUP_GONE
  • BOTTLE_EMPTY
  • INVAL_CMD
  • ...
NOP
If Arduino gets command NOP, it replies with NOP and does nothing.

State Diagram

Can be rendered via http://yuml.me/diagram/plain/class/draw

[READY]-POUR>[POURING]
[READY]-POUR>[WAITING_FOR_CUP]
[WAITING_FOR_CUP]->[ERROR CUP_TO]
[ERROR CUP_TO]->[READY]
[WAITING_FOR_CUP]-cup placed on scale>[POURING]
[POURING]-next bottle>[POURING]
[POURING]-finished pouring>[ENJOY]
[POURING]-finished pouring but inaccurate>[ERROR POURING_INACCURATE]
[ERROR POURING_INACCURATE]-take cup>[READY]
[POURING]-ABORT>[READY]
[POURING]->[ERROR other_error]
[ERROR other_error]->[READY]
[ENJOY]-take cup>[READY]
[READY]->[READY]
[POURING]->[ERROR CUP_GONE]
[POURING]->[ERROR BOTTLE_EMPTY]
[ERROR BOTTLE_EMPTY]-RESUME>[POURING]
[ERROR CUP_GONE]->[WAITING_FOR_CUP]

Pre-rendered PNG: http://yuml.me/662bff34 (created 2014-05-04, may be out of date)

Further Documentation

  • Scale pinout diagram
  • Eagle Schematics (TODO)
  • Eagle Layout (TODO) In the Documentation folder

Useful links

Arduino IDE

  • Working version: 1.8.9
  • Board: Arduino/Genuino Mega or Mega 2560
  • Processor: AtMega 2560 (Mega 2560)
  • Programmer: Atmel STK500 developer board
  • Terminal: "Both Nl & CR" / 9600 baud

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Arduino code for the Barwin cocktail robot

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