Add food dispensing system.

Signed-off-by: Szymon Duchniewicz <[email protected]>
rasofema · Mar 28, 2022 · 1ad7c5a · 1ad7c5a
1 parent 2c68994
commit 1ad7c5a
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Showing 2 changed files with 22 additions and 4 deletions.
diff --git a/src/globals.h b/src/globals.h
@@ -9,7 +9,9 @@
 #include <ArduinoJson.h>
 #include <PubSubClient.h>
 
+// sensors and actuators
 #include <Arduino_MKRENV.h>
+#include <Servo.h>
 
 
 // 0: no log messages, 1: safe log messages, 2: halting log messages
@@ -18,12 +20,19 @@
 #define PUMP_ON_TIME                  5000L
 // MAX Time in MS the heater is on after receiving MQTT msg (if not turned off by user before)
 #define HEATER_TIMEOUT                30*1000L
+// Time for food dispensing in MS
+#define FOOD_DISPENSING_TIMEOUT       5000L
 // Interval of the main HW Clock in MS
 #define HW_TIMER_INTERVAL_MS          50L
 #define WATER_LEVEL_SENSOR_READINGS   10
 #define READING_INTERVAL              2
+
 #define WATER_MAX_LEVEL               680
 #define WATER_MIN_LEVEL               400
+#define WATER_SENSOR_MAX_VAL          800
+// Servo positions
+#define SERVO_CLOSED_POS              0
+#define SERVO_OPEN_POS                180
 
 const int JSON_SIZE = 1000;
 
@@ -38,6 +47,8 @@ int getWaterLevelReading();
 bool isWaterContainerFull();
 bool isWaterContainerEmpty();
 
+Servo food_dispenser_servo;
+
 // Values modifed by Interrupts
 volatile int heaterTimerId = -1; // Stores the id of the current heaterTimer interrupt
 volatile bool heater_status = false;

diff --git a/src/src.ino b/src/src.ino
@@ -57,6 +57,7 @@ int getWaterLevelReading()
         delay(READING_INTERVAL);
     }
     return avg/WATER_LEVEL_SENSOR_READINGS;
+
 }
 
 
@@ -93,7 +94,7 @@ void foodDispenserTimerHandler()
 #if (DEBUG > 1)
     Serial.println("Stopping food dispenser!");
 #endif
-
+    food_dispenser_servo.write(SERVO_CLOSED_POS);
 }
 
 void callback(char* topic, byte* payload, unsigned int length) {
@@ -192,7 +193,11 @@ void callback(char* topic, byte* payload, unsigned int length) {
   {
     if (strcmp((const char*) callbackDoc["dispense_food"], "dispense_food") == 0)
     {
-        Serial.println("Dispensing foood!!!!");
+#if (DEBUG > 1)
+        Serial.println("Dispensing food!!!!");
+#endif
+        food_dispenser_servo.write(SERVO_OPEN_POS);
+        ISR_Timer.setTimeout(FOOD_DISPENSING_TIMEOUT, foodDispenserTimerHandler);
     }
   }
 }
@@ -225,7 +230,8 @@ void setup() {
   pinMode(WATER_PUMP_PIN,OUTPUT);
   pinMode(HEATER_PIN,OUTPUT);
   pinMode(BUZZER_PIN,OUTPUT);
-  pinMode(MOTOR_PIN,OUTPUT);
+  food_dispenser_servo.attach(MOTOR_PIN);
+  food_dispenser_servo.write(SERVO_CLOSED_POS); // reset servo position
 
   initialiseSerial();
   checkENVShieldInitialisation();
@@ -247,7 +253,8 @@ void loop() {
   float humi = ENV.readHumidity();
   float illu = ENV.readIlluminance();
   int sound = analogRead(MIC_PIN);
-  float water = getWaterLevelReading();
+    // get avg and map to 0-100 %
+  float water = map(getWaterLevelReading(), 0, WATER_SENSOR_MAX_VAL, 0, 100); //actual max should be close to 1023
 
   // Check if any reads failed
   if (isnan(temp) || isnan(humi) || isnan(illu)) {