药箱控制-arduino

#include <Arduino.h>
#include <EEPROM.h>

#define LOCK_PIN 2
#define PWM_PIN  3
#define DIR_PIN  4

#define Microstep 6000
#define STORGE_CMD 0x7E
#define PUIOUT_CMD 0x7D


volatile int BottleLeftNum;
int state;
int medicNum;
int buff[3];
volatile int step = 0;
volatile int backStepNum = 0;
int putMedicOutNum = 0;
int bottle_num = 0;
int  out_bottle_num = 0;
// int cmd_id = 0;



//
void writeDataToEeprom(int BottleLeftNum,int step,int backStepNum,int putMedicOutNum)
{
    // int i = 0;
    // EEPROM.begin();
    // for(i; i < 50; i++){
    //   EEPROM.write(i,0);
    // }
    EEPROM.put(0, BottleLeftNum);
    // for(i; i < 100; i++){
    //   EEPROM.write(i,0);
    // }
    EEPROM.put(50, step);
    // for(i; i < 150; i++){
    //   EEPROM.write(i,0);
    // }
    EEPROM.put(100, backStepNum);
    // for(i; i < 200; i++){
    //   EEPROM.write(i,0);
    // }
    EEPROM.put(150, putMedicOutNum);
    EEPROM.end();
}
void initPin()
{
    pinMode(PWM_PIN,OUTPUT);
    pinMode(DIR_PIN,OUTPUT);
    pinMode(LOCK_PIN,OUTPUT);
}
void openLock()
{
    digitalWrite(LOCK_PIN,HIGH);
}
void closeLock()
{
    digitalWrite(LOCK_PIN,LOW);
}
void runOneStep()//正向转
{
    digitalWrite(DIR_PIN,HIGH);//正向
    for(int i = 0; i < Microstep; i++){//转一格
        digitalWrite(PWM_PIN,HIGH);
        delayMicroseconds(50);
        digitalWrite(PWM_PIN,LOW);
        delayMicroseconds(50);
    }
}
void putOutMedicBottle(int num)
{
    for(int i = 0; i < num; i++){
        runOneStep();
        delay(2000);
    }
    BottleLeftNum = BottleLeftNum - num;//重新计算剩余存储药瓶数量
    // for(int j; j < 50; j++){
    //   EEPROM.write(j,0);
    // }
    EEPROM.put(0, BottleLeftNum);
    memset(buff,'\0',3);
}
void Positive_transfer(int num)
{
    if(num > 0){
        num = 20 - num;
        digitalWrite(DIR_PIN,HIGH);//正向
        for(int j = 0; j < num; j++){
            for(int i = 0; i < Microstep; i++){//转一格
                digitalWrite(PWM_PIN,HIGH);
                delayMicroseconds(50);
                digitalWrite(PWM_PIN,LOW);
                delayMicroseconds(50);
            }
        }
    }

}
void Inversion_transfer(int num)//反向转
{
    num = 20 - num;
    digitalWrite(DIR_PIN,LOW);//反向
    for(int j = 0; j < num; j++){
        for(int i = 0; i < Microstep; i++){//转一格
            digitalWrite(PWM_PIN,HIGH);
            delayMicroseconds(50);
            digitalWrite(PWM_PIN,LOW);
            delayMicroseconds(50);
        }
    }
}

void stopMotor()//电机停转
{
    digitalWrite(PWM_PIN,LOW);
    digitalWrite(PWM_PIN,LOW);
}
void Single_bottle_storage(int BottleLeftNum)
{
    Inversion_transfer(BottleLeftNum);
    openLock();
    delay(4000);
    closeLock();
    Positive_transfer(BottleLeftNum);
    stopMotor();
    memset(buff,'\0',3);
}
void Multi_bottle_storage(int step,int medicNum,int backStepNum)
{
    Inversion_transfer(step);
    for(int j = 0; j < medicNum; j++){//放入药品
        openLock();
        delay(4000);
        closeLock();
        runOneStep();
    }
    Positive_transfer(backStepNum);
    stopMotor();//电机停转
    memset(buff,'\0',3); //清空数据
}
void medicMessage()
{
    Serial.print("剩余药品数量：");
    Serial.println(BottleLeftNum);
}
void warningMessage()
{
    Serial.println("存药空间已满，仅支持退药！");
    Serial.print("目前剩余药品数量：");
    Serial.println(BottleLeftNum);
}

uint8_t  get_serial_cmd_data(int* get_cmd){

    int tmp_cmd = 0;
    if(Serial.available() > 0){
        tmp_cmd = Serial.parseInt();
        if(tmp_cmd == STORGE_CMD) {
            bottle_num = Serial.parseInt();
            Serial.print("STORGE_CMD ==");
            Serial.println(bottle_num);
            *get_cmd = tmp_cmd;
            return 1;
        }else if(tmp_cmd == PUIOUT_CMD){
            out_bottle_num = Serial.parseInt();
            Serial.print("PUIOUT_CMD ==");
            Serial.println(out_bottle_num);
            *get_cmd = tmp_cmd;
            return 1;
        }
    }
    return 0;
}

void setup() {
    // put your setup code here, to run once:

    initPin();
    Serial.begin(9600);
    closeLock();

    //  / medicMessage();
    Serial.print("复位后：BottleLeftNum = ");
    Serial.println(EEPROM.read(0));
    BottleLeftNum += EEPROM.read(0);//如果复位后需要加上断电之前剩余药品数
    // writeDataToEeprom();
    // writeDataToEeprom();
}


void temp_work(){

    medicNum = bottle_num;//每次需要放入药品数量
    putMedicOutNum = out_bottle_num;//需要出药瓶的数量
    if(BottleLeftNum <= 19)
    {
        switch(state){
        case STORGE_CMD :
            if(medicNum == 1){//一瓶一瓶的放
                Single_bottle_storage(BottleLeftNum);
                Serial.println("已经成功存入：1瓶");
                medicMessage();
            }else if(medicNum > 1){//多瓶放入
                Multi_bottle_storage(step,medicNum,backStepNum);
                Serial.print("已经成功存入：");
                Serial.print(medicNum);
                Serial.println("瓶");
                medicMessage();
            }
            break;
        case PUIOUT_CMD :
            putOutMedicBottle(putMedicOutNum);
            stopMotor();
            Serial.print("已经成功退出：");
            Serial.print(putMedicOutNum);
            Serial.println("瓶");
            medicMessage();
            break;
        }
    }else{
        warningMessage();
        delay(2000);
        if(state == 1){//出药
            putOutMedicBottle(putMedicOutNum);
            stopMotor();
            medicMessage();
        }
    }

}



void loop() {
    if(get_serial_cmd_data(&state) == 1){
        step = BottleLeftNum + 1;//多瓶存退步所需参数
        BottleLeftNum += bottle_num;//暂存药品总数
        writeDataToEeprom(BottleLeftNum,step,backStepNum,putMedicOutNum);
        backStepNum = BottleLeftNum + 1;//多瓶存入电机正转所需参数
        Serial.println(BottleLeftNum);
        Serial.println(step);
        temp_work();
    }
}