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#include <SPI.h>
#include <Ethernet.h>
#include <AccelStepper.h> // MultiStepper.pde Copyright (C) 2009 Mike McCauley
byte mac[] = {
0xDE, 0xAD, 0xBE, 0xEF, 0xFE, 0xED };
byte ip[] = {
192,168,0, 145 };
// telnet defaults to port 23
Server server(23);
boolean gotAMessage = false; // whether or not you got a message from the client yet
// Define some steppers and the pins the will use
AccelStepper plateDriver(4,42,43,44,45); // the inital "4" specifys bipolar w the 4 pins following
int MS1 = 24;
int MS2 = 25;
int SLEEP = 26;
AccelStepper pump(1,22,23); // the inital "1" specifys mode of, step, direction
// front opto interruptor
int optoInterruptorFront = 49; // choose the input pin
int optoInterruptorFrontVal = 0; // variable for reading the pin status
// rear opto interruptor
int optoInterruptorRear = 48; // choose the input pin
int optoInterruptorRearVal = 0; // variable for reading the pin status
boolean initalZeroFront = false;
boolean zeroedRear = false;
void setup(){
// initialize the ethernet device
Ethernet.begin(mac, ip);
// start listening for clients
server.begin();
Serial.begin(9600);
pinMode(optoInterruptorFront, INPUT); // declare optoInterruptorFront as input
pinMode(optoInterruptorRear, INPUT); // declare optoInterruptorRear as input
// setup of plateDriver
plateDriver.setMaxSpeed(1000.0);
plateDriver.setAcceleration(800.0);
pinMode(MS1, OUTPUT); // set pin 24 to output
pinMode(MS2, OUTPUT); // set pin 25 to output
//pinMode(SLEEP, OUTPUT); // set pin 26 to output
//digitalWrite(MS1, LOW);
//digitalWrite(MS2, LOW);
//digitalWrite(SLEEP, HIGH);
//setup of peristaltic pump stepper
pump.setMaxSpeed(2000.0);
pump.setAcceleration(800.0);
//pump.moveTo(10000);
}
void loop(){
// waits for a new client:
Client client = server.available();
if (client) {
if (client.available() >= 3 ) {
// value of 1 begins dispense sequence
char id = client.read();
// reserved for future use for rails control up to 10000 steps
int steps = client.read() | (client.read() << 8);
if (id == 0){
client.stop();
Serial.println("STOP!");
}
if (id == 1){
optoInterruptorFrontVal = digitalRead(optoInterruptorFront); // read input value
optoInterruptorRearVal = digitalRead(optoInterruptorRear); // read input value
while(initalZeroFront == false){
Serial.println(optoInterruptorFrontVal);
// Initial zeroing
while(optoInterruptorFrontVal == HIGH){ // if front opto is HIGH... move stage towards front
// xxxxxxx First Movement ... use to position stage xxxxxx
// default value should be -1 to allow step-by-step zeroing of the stage
plateDriver.move(5);
plateDriver.runToPosition(); //rotate plate driver foward
optoInterruptorFrontVal = digitalRead(optoInterruptorFront);
Serial.println("zeroing forward");
}
initalZeroFront = true;
Serial.println("ZEROED forward");
// this is when plate would be placed on the stage
delay(1000);
}
// plate resides at front most position
// zeroedFront == true at this point
frontZeroedTowardsDispenseZero();
// plate resides directly under dispensing pipettes
dispenseLoop();
// microplate filled
returnPlateFront();
}
}
}
}
void frontZeroedTowardsDispenseZero() {
Serial.println("massive move backwards");
plateDriver.move(-37350);
plateDriver.runToPosition();
// rear zeroing process
while(optoInterruptorRearVal == HIGH){
plateDriver.move(-5);
plateDriver.runToPosition(); //rotate plate driver foward
optoInterruptorRearVal = digitalRead(optoInterruptorRear);
Serial.println("zeroing back");
}
Serial.println("ZEROED under pipettes");
delay(5000);
}
void dispenseLoop(){
for(int i = 0; i < 13; i++){
// rewrite these as non-blocking
Serial.println(i);
// use these to slow it down a bit
// plateDriver.setMaxSpeed(1000.0);
//plateDriver.setAcceleration(800.0);
Serial.println("dispensing " + i);
// dispense X volume of liquid
pump.move(1000);
pump.runToPosition();
Serial.println("advancing");
// move plate to next well
plateDriver.move(1200);
plateDriver.runToPosition();
delay(500);
}
Serial.println("done dispensing");
}
void returnPlateFront(){
Serial.println("massive move forwards");
plateDriver.move(22000);
plateDriver.runToPosition();
// front zeroing process
while(optoInterruptorFrontVal == HIGH){
plateDriver.move(-5);
plateDriver.runToPosition(); //rotate plate driver foward
optoInterruptorFrontVal = digitalRead(optoInterruptorFront);
Serial.println("zeroing front loop");
}
Serial.println("ZEROED at front");
for (int i = 0; i < 100; i++){
Serial.println("done");
delay(500);
}
}
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