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source.c
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475 lines (318 loc) · 7.62 KB
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/*
* Final Project.c
*
* Created: 05/20/2019 7:21:47 PM
* Author : Janitha Missaka
*/
#define F_CPU 1000000UL
// LCD PIN Declaration
#define D4 eS_PORTD4
#define D5 eS_PORTD5
#define D6 eS_PORTD6
#define D7 eS_PORTD7
#define RS eS_PORTC6
#define EN eS_PORTC7
#include <avr/io.h>
#include <avr/interrupt.h>
#include <util/delay.h>
#include <stdlib.h>
#include <string.h>
#include "lcd.h"
void vac();
void liq();
void run1();
void run2();
void run3();
void run();
void test();
void r2check();
int main(void)
{
DDRB = 0b11100000;
PORTB |= 10;
DDRA = 0b00000000;
DDRC = 0xFF;
DDRD = 0xFF;
Lcd4_Init();
Lcd4_Set_Cursor(1,0);
Lcd4_Write_String("Welcome");
Lcd4_Set_Cursor(2,0);
Lcd4_Write_String("Group No.21");
_delay_ms(5000);
Lcd4_Init();
Lcd4_Set_Cursor(1,0);
Lcd4_Write_String("TEBLA");
Lcd4_Set_Cursor(2,0);
Lcd4_Write_String("Cleaning table");
_delay_ms(4000);
Lcd4_Clear();
Lcd4_Set_Cursor(1,0);
Lcd4_Write_String("To Start Enter");
Lcd4_Set_Cursor(2,0);
Lcd4_Write_String("Push Button");
_delay_ms(1000);
while(1) //PBO for Push button
{
if(PINB & (1<<PB0)){
while(PINB & (1<<PB0)); //Release for start
run();
}
}
}
void run(){
Lcd4_Clear();
Lcd4_Set_Cursor(1,0);
Lcd4_Write_String("Arm Up");
PORTB |= (1 << PB1); //Pull up the PB1
PORTB |= (1<<PB6); //PB6 Arm up signal
while(!((PINB & (1<<PB1)) == 0)); //PB1 for limit switch
PORTB &= ~(1<<PB6);
_delay_ms(2000);
Lcd4_Clear();
Lcd4_Set_Cursor(1,0);
Lcd4_Write_String("Rotate arm");
Lcd4_Set_Cursor(2,0);
Lcd4_Write_String("Forward");
PORTD |= (1<<PD2); //PD2 for arm forward
_delay_ms(200);
liq();
Lcd4_Clear();
Lcd4_Set_Cursor(1,0);
Lcd4_Write_String("Rotate arm");
Lcd4_Set_Cursor(2,0);
Lcd4_Write_String("Forward");
PORTB |= (1 << PB3); //Pull up the PB3
while(!((PINB & (1<<PB3)) == 0)); //PB3 limit switch with IR
PORTD &= ~(1<<PD2);
_delay_ms(2000);
Lcd4_Clear();
Lcd4_Set_Cursor(1,0);
Lcd4_Write_String("Rotate arm");
Lcd4_Set_Cursor(2,0);
Lcd4_Write_String("Reverse");
PORTC |= (1<<PC1);
_delay_ms(1000);
vac();
_delay_ms(1000);
Lcd4_Clear();
Lcd4_Set_Cursor(1,0);
Lcd4_Write_String("Rotate arm");
Lcd4_Set_Cursor(2,0);
Lcd4_Write_String("Reverse");
while(!((PINB & (1<<PB3)) == 0)); //PB3 IR for limit
PORTC &= ~(1<<PC1);
_delay_ms(1000);
Lcd4_Clear();
Lcd4_Set_Cursor(1,0);
Lcd4_Write_String("Arm Down");
PORTB |= (1 << PB4); //Pull up the PB4
PORTB |= (1<<PB7); //Arm down signal PB7
while(!((PINB & (1<<PB4)) == 0));
PORTB &= ~(1<<PB7);
Lcd4_Clear();
Lcd4_Set_Cursor(1,0);
Lcd4_Write_String("Start Process");
Lcd4_Set_Cursor(2,0);
Lcd4_Write_String("Complete");
_delay_ms(3000);
Lcd4_Clear();
Lcd4_Set_Cursor(1,0);
Lcd4_Write_String("Check Cust");
Lcd4_Set_Cursor(2,0);
Lcd4_Write_String("On seats");
_delay_ms(4000);
////check IR sensor detection on seats
while(1){
if((!(PINA & (1<<PA3)) == 1) || (!(PINA & (1<<PA4)) == 1)){
Lcd4_Clear();
Lcd4_Set_Cursor(1,0);
Lcd4_Write_String("Customers on");
Lcd4_Set_Cursor(2,0);
Lcd4_Write_String("Seats");
_delay_ms(3000);
Lcd4_Clear();
Lcd4_Set_Cursor(1,0);
Lcd4_Write_String("Send count to");
Lcd4_Set_Cursor(2,0);
Lcd4_Write_String("kitchen via WIFI");
_delay_ms(2000);
PORTC |= (1<<PC3); //Power up the WIFI module
//PORTC &= ~(1<<PC3); //Power off the WIFI module
_delay_ms(2000);
Lcd4_Clear();
Lcd4_Set_Cursor(1,0);
Lcd4_Write_String("Waiting for");
Lcd4_Set_Cursor(2,0);
Lcd4_Write_String("Cust Leave");
_delay_ms(10000);
}
else{
_delay_ms(2000);
Lcd4_Clear();
Lcd4_Set_Cursor(1,0);
Lcd4_Write_String("Customers not");
Lcd4_Set_Cursor(2,0);
Lcd4_Write_String("On seats");
_delay_ms(4000);
run1();
break;
}
}
//Check IR sensors on Arm
_delay_ms(3000);
Lcd4_Clear();
Lcd4_Set_Cursor(1,0);
Lcd4_Write_String("Check IR");
Lcd4_Set_Cursor(2,0);
Lcd4_Write_String("Sensor");
_delay_ms(3000);
while(1){
if((!(PINA & (1<<PA1)) == 1) || (!(PINA & (1<<PA2)) == 1) || (!(PINA & (1<<PA6)) == 1) || (!(PINA & (1<<PA7)) == 1)){
Lcd4_Clear();
Lcd4_Set_Cursor(1,0);
Lcd4_Write_String("Wait For Items");
Lcd4_Set_Cursor(2,0);
Lcd4_Write_String("Remove");
_delay_ms(2000);
}
else{
Lcd4_Clear();
Lcd4_Set_Cursor(1,0);
Lcd4_Write_String("IR Sensor");
Lcd4_Set_Cursor(2,0);
Lcd4_Write_String("Free");
_delay_ms(2000);
r2check();
_delay_ms(2000);
run3();
_delay_ms(2000);
Lcd4_Clear();
Lcd4_Set_Cursor(1,0);
Lcd4_Write_String("Process");
Lcd4_Set_Cursor(2,0);
Lcd4_Write_String("Complete");
break;
}
}
}
//arm up
void run1(){
Lcd4_Clear();
Lcd4_Set_Cursor(1,0);
Lcd4_Write_String("Arm Up");
PORTB |= (1 << PB1);
PORTB |= (1<<PB6);
while(!((PINB & (1<<PB1)) == 0)); //PA0 for arm up
PORTB &= ~(1<<PB6);
_delay_ms(2000);
}
//rotate arm
void run2(){
Lcd4_Clear();
Lcd4_Set_Cursor(1,0);
Lcd4_Write_String("Rotate arm");
Lcd4_Set_Cursor(2,0);
Lcd4_Write_String("Forward");
PORTD |= (1<<PD2); //PD2 for arm forward
_delay_ms(3000);
liq();
Lcd4_Clear();
Lcd4_Set_Cursor(1,0);
Lcd4_Write_String("Rotate arm");
Lcd4_Set_Cursor(2,0);
Lcd4_Write_String("Forward");
PORTB |= (1 << PB3);
while(!((PINB & (1<<PB3)) == 0)); //PB2 limit switch with IR
PORTD &= ~(1<<PD2);
_delay_ms(2000);
Lcd4_Clear();
Lcd4_Set_Cursor(1,0);
Lcd4_Write_String("Rotate arm");
Lcd4_Set_Cursor(2,0);
Lcd4_Write_String("Reverse");
PORTC |= (1<<PC1);
_delay_ms(1000);
vac();
_delay_ms(1000);
Lcd4_Clear();
Lcd4_Set_Cursor(1,0);
Lcd4_Write_String("Rotate arm");
Lcd4_Set_Cursor(2,0);
Lcd4_Write_String("Reverse");
while(!((PINB & (1<<PB3)) == 0)); //PB3 limit switch with previous IR
PORTC &= ~(1<<PC1);
_delay_ms(1000);
}
//arm down
void run3(){
Lcd4_Clear();
Lcd4_Set_Cursor(1,0);
Lcd4_Write_String("Arm Down");
PORTB |= (1 << PB4);
PORTB |= (1<<PB7); //Arm down
while(!((PINB & (1<<PB4)) == 0));
PORTB &= ~(1<<PB7);
_delay_ms(1000);
} //arm down
//liq drop
void liq(){
Lcd4_Clear();
Lcd4_Set_Cursor(1,0);
Lcd4_Write_String("liquid drop");
PORTD |= (1 << PD3);
_delay_ms(1000);
PORTD &= ~(1 << PD3);
}
// vaccumming
void vac(){
Lcd4_Clear();
Lcd4_Set_Cursor(1,0);
Lcd4_Write_String("Drying");
PORTC |= (1 << PC0);
_delay_ms(1500);
PORTC &= ~(1 <<PC0);
}
//check items on the floor
void r2check() {
Lcd4_Clear();
Lcd4_Set_Cursor(1,0);
Lcd4_Write_String("Rotate arm");
Lcd4_Set_Cursor(2,0);
Lcd4_Write_String("Forward");
_delay_ms(1500);
while (1)
{
if (((PINB & (1<<PB3)) == 0))
{
PORTD &= ~(1<<PD2);
break;
}
else if ((!(PINA & (1<<PA1)) == 1) || (!(PINA & (1<<PA2)) == 1) || (!(PINA & (1<<PA6)) == 1) || (!(PINA & (1<<PA7)) == 1))
{
PORTD &= ~(1<<PD2);
//_delay_ms(1500);
}
else{
PORTD |= (1<<PD2);
//_delay_ms(1500);
}
}
_delay_ms(2000);
Lcd4_Clear();
Lcd4_Set_Cursor(1,0);
Lcd4_Write_String("Rotate arm");
Lcd4_Set_Cursor(2,0);
Lcd4_Write_String("Reverse");
PORTC |= (1<<PC1);
_delay_ms(1000);
vac();
_delay_ms(1000);
Lcd4_Clear();
Lcd4_Set_Cursor(1,0);
Lcd4_Write_String("Rotate arm");
Lcd4_Set_Cursor(2,0);
Lcd4_Write_String("Reverse");
while(!((PINB & (1<<PB3)) == 0)); //PB3 limit switch with previous IR
PORTC &= ~(1<<PC1);
_delay_ms(500);
}