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// MultiStepper.pde Copyright (C) 2009 Mike McCauley
#include <AccelStepper.h>
// Define some steppers and the pins the will use
AccelStepper plateDriver(1,22,23); // "1" specifys mode of, step, direction
int MS1 = 24;
int MS2 = 25;
int SLEEP = 26;
AccelStepper pump(4, 6, 7, 8, 9); // "4" specifys bipolar w the 4 pins following
int ledPin = 53; // choose the pin for the LED
// 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(){
Serial.begin(9600);
pinMode(ledPin, OUTPUT); // declare LED as output
pinMode(optoInterruptorFront, INPUT); // declare optoInterruptorFront as input
// setup of plateDriver
plateDriver.setMaxSpeed(800.0);
plateDriver.setAcceleration(600.0);
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 stepper2
pump.setMaxSpeed(300.0);
pump.setAcceleration(100.0);
//pump.moveTo(10000);
}
void loop(){
optoInterruptorFrontVal = digitalRead(optoInterruptorFront); // read input value
optoInterruptorRearVal = digitalRead(optoInterruptorRear); // read input value
digitalWrite(ledPin, LOW); // turn LED OFF
while(initalZeroFront == false){
Serial.println(optoInterruptorFrontVal);
// Initial zeroing
while(optoInterruptorFrontVal == HIGH){ // if front opto is HIGH... move plate towards front
//xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx
plateDriver.move(-1);
plateDriver.runToPosition(); //rotate plate driver foward
optoInterruptorFrontVal = digitalRead(optoInterruptorFront);
Serial.println("zeroing forward");
}
initalZeroFront = true;
digitalWrite(ledPin, HIGH); // turn LED ON
digitalWrite(ledPin, LOW); // turn LED OFF
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(45000);
plateDriver.runToPosition();
// rear zeroing process
while(optoInterruptorRearVal == HIGH){
plateDriver.move(1);
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);
Serial.println("dispensing " + i);
// dispense X volume of liquid
pump.move(100);
pump.runToPosition();
Serial.println("advancing");
// move plate to next well
plateDriver.move(-1000);
plateDriver.runToPosition();
delay(500);
}
Serial.println("done dispensing");
}
void returnPlateFront(){
Serial.println("massive move forwards");
plateDriver.move(-30000);
plateDriver.runToPosition();
// front zeroing process
while(optoInterruptorFrontVal == HIGH){
plateDriver.move(-1);
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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