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.

Debian:

sudo apt-get install arduino python-pip picocom
sudo pip install ino pyserial

Fedora:

sudo yum install arduino python-pip picocom
sudo pip install ino pyserial

make

See Makefile for details. Tested with Arduino Duemilanove and Arduino Leonardo.

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?

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: rfjakob#5

NOP

Arduino will do nothing and send message "DOING_NOTHING". This is a dummy message, for testing only.

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.

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)

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

• ino quickstart http://inotool.org/quickstart
• ADS1231 datasheet http://www.ti.com/lit/ds/symlink/ads1231.pdf