rope

#include <Wire.h>

#include "rgb_lcd.h"

rgb_lcd lcd;

#include <L298N.h>

#include "BasicStepperDriver.h"

#define MOTOR_STEPS 200

#define RPM 1

#define DIR A0

#define STEP A1

#define MICROSTEPS 16

BasicStepperDriver stepper(MOTOR_STEPS, DIR, STEP);

const unsigned int IN1_A = 7;

const unsigned int IN2_A = 8;

const unsigned int IN1_B = 10;

const unsigned int IN2_B = 11;

const unsigned int EN = 9;

L298N motor1(EN, IN1_A, IN2_A);

L298N motor2(EN, IN1_B, IN2_B);

#define SW 4

int flag = 0;

int pin = 3;

int pulse = 0;

int last = 0;

int current = 0;

int state = 0;

int state1 = 0;

int count = 0;

int x = 0;

int y = 0;

int z = 0;

int k = 0;

volatile long temp, counter, knob = 0; //This variable will increase or decrease depending on the rotation of encoder

int a = 0;

int b = 0;

int c = 0;

int d = 70;

void setup() {

Serial.begin (9600);

lcd.begin(16, 2);

motor1.setSpeed(120);

motor2.setSpeed(120);

pinMode(12, OUTPUT);

digitalWrite(12,HIGH);

pinMode(SW, INPUT_PULLUP);

pinMode(2, INPUT_PULLUP); // internal pullup input pin 2

pinMode(3, INPUT_PULLUP); // internalเป็น pullup input pin 3

attachInterrupt(0, ai0, RISING);

attachInterrupt(1, ai1, RISING);

lcd.setCursor(0, 0);

lcd.print (" ROPE MACHINE ");

lcd.setCursor(0, 1);

lcd.print (" PRESS TO START ");

motor1.stop();

motor2.stop();

stepper.begin(RPM, MICROSTEPS);

 

}

 

void loop() {

if (!digitalRead(SW)){

delay(50);

flag = 2;

lcd.clear();

lcd.setCursor(0, 0);

lcd.print (" ROPE MACHINE ");

lcd.setCursor(0, 1);

lcd.print ("LENGTH = ");

lcd.setCursor(13, 1);

lcd.print ("MTR ");

}

 

if (flag == 2){

 

lcd.setCursor(9, 1);

lcd.print (state);

 

if (pulse != last){

state ++;

pulse = last;

delay(10);

}

//Serial.print(state1/100);

//Serial.print(" , ");

//Serial.println(state);

 

}

if (state > 0 && !digitalRead(SW)){

delay(50);

 

flag = 3;

lcd.clear();

lcd.setCursor(0, 0);

lcd.print (" ROPE MACHINE ");

lcd.setCursor(0, 1);

lcd.print ("LENGTH = ");

lcd.setCursor(13, 1);

lcd.print ("MTR ");

state1 = 0;

}

 

if (flag == 3){

 

roation();

stepper.rotate(c);

digitalWrite(12,LOW);

motor1.forward();

motor2.forward();

if (state1>100){

state1=0;

count++;

lcd.clear();

lcd.setCursor(0, 0);

lcd.print (" ROPE MACHINE ");

lcd.setCursor(0, 1);

lcd.print ("LENGTH = ");

lcd.setCursor(13, 1);

lcd.print ("MTR ");

}

 

lcd.setCursor(8, 1);

lcd.print (count);

lcd.setCursor(9, 1);

lcd.print (".");

lcd.setCursor(10, 1);

lcd.print (state1);

 

if( counter != temp ){

state1 ++;

counter = temp;

}

 

if ( count == state){

flag = 4;

motor1.stop();

motor2.stop();

digitalWrite(12,HIGH);

 

}

 

}

 

 

}

 

 

 

 

void ai0() {

 

counter++;

}

 

void ai1() {

 

pulse ++;

}

 

void roation(){

if ( a < 80 && b == 0){

a++;

c = 1;

}

 

if (a > 79 && b == 0){

b = 1;

}

 

if (a < 0 && b == 1){

b = 0;

}

 

 

 

if (b == 1){

a--;

c=-1;

}

Serial.println(c);

}