I am trying to control 6 servo for a dust collection. I can get the following code to work, but when I try to add 5 and 6 it locks up. and the way I am trying to use all 6 commented out.
//*
- This code is for the project at
- iliketomakestuff.com/how-to-automate-a-dust-collection-system-arduino
- All of the components are list on the url above.
This script was created by Bob Clagett for I Like To Make Stuff
For more projects, check out iliketomakestuff.com
Includes Modified version of "Measuring AC Current Using ACS712"
Parts of this sketch were taken from the keypad and servo sample sketches that comes with the keypad and servo libraries.
*/
#include <Wire.h>
#include <Adafruit_PWMServoDriver.h>
// called this way, it uses the default address 0x40
Adafruit_PWMServoDriver pwm = Adafruit_PWMServoDriver();
// you can also call it with a different address you want
//Adafruit_PWMServoDriver pwm = Adafruit_PWMServoDriver(0x41);
// Depending on your servo make, the pulse width min and max may vary, you
// want these to be as small/large as possible without hitting the hard stop
// for max range. You'll have to tweak them as necessary to match the servos you
// have!
// our servo # counter
uint8_t servoCount =5;
uint8_t servonum = 0;
const int OPEN_ALL = 100;
const int CLOSE_ALL = 99;
boolean buttonTriggered = 0;
boolean powerDetected = 0;
boolean collectorIsOn = 0;
int DC_spindown = 3000;
const int NUMBER_OF_TOOLS = 5; //6;
const int NUMBER_OF_GATES = 5; //6;
String tools[NUMBER_OF_TOOLS] = {"Sander","Table Saw","Miter Saw","Band Saw"}; //,"Floor Sweep","Planner"
int voltSensor[NUMBER_OF_TOOLS] = {A0,A1,A2,A3}; //{A0,A1,A2,A3,A4,A5}
long int voltBaseline[NUMBER_OF_TOOLS] = {0,0,0,0}; //{0,0,0,0,0,0}
//DC right, Y, miter, bandsaw, saw Y, tablesaw, floor sweep
//Set the throw of each gate separately, if needed
int gateMinMax[NUMBER_OF_GATES][2] = {
/*open, close*/
{270,400}, //Table Saw
{270,400}, //Miter Saw
{270,400}, //Band Saw
{270,400}, //Sander
//{200,405}, //Planner
//{200,405}, //Floor Sweep
};
//keep track of gates to be toggled ON/OFF for each tool
int gates[NUMBER_OF_TOOLS][NUMBER_OF_GATES] = {
{1,0,0,0},
{0,1,0,0},
{0,0,1,0},
{0,0,0,1},
//{0,0,0,0,1},
//{0,0,0,0,0,1,},
};
const int dustCollectionRelayPin = 11;
const int manualSwitchPin = 12; //for button activated gate, currently NOT implemented
int mVperAmp = 185; // use 100 for 20A Module and 66 for 30A Module
double ampThreshold = .20;
double Voltage = 0;
double VRMS = 0;
double AmpsRMS = 0;
//button debouncing
int state = HIGH; // the current state of the output pin
int reading; // the current reading from the input pin
int previous = LOW; // the previous reading from the input pin
// the follow variables are long's because the time, measured in miliseconds,
// will quickly become a bigger number than can be stored in an int.
long time = 0; // the last time the output pin was toggled
long debounce = 200; // the debounce time, increase if the output flickers
void setup(){
Serial.begin(9600);
pinMode(dustCollectionRelayPin,OUTPUT);
pwm.begin();
pwm.setPWMFreq(60); // Default is 1000mS
//record baseline sensor settings
//currently unused, but could be used for voltage comparison if need be.
delay(1000);
for(int i=0;i<NUMBER_OF_TOOLS;i++){
pinMode(voltSensor[i],INPUT);
voltBaseline[i] = analogRead(voltSensor[i]);
}
}
void loop(){
// use later for button debouncing
reading = digitalRead(manualSwitchPin);
if (reading == HIGH && previous == LOW && millis() - time > debounce) {
if (state == HIGH){
state = LOW;
buttonTriggered = false;
} else{
state = HIGH;
buttonTriggered = true;
time = millis();
}
}
previous = reading;
Serial.println("----------");
//loop through tools and check
int activeTool = 50;// a number that will never happen
for(int i=0;i<NUMBER_OF_TOOLS;i++){
if( checkForAmperageChange(i)){
activeTool = i;
exit;
}
if( i!=0){
if(checkForAmperageChange(0)){
activeTool = 0;
exit;
}
}
}
if(activeTool != 50){
// use activeTool for gate processing
if(collectorIsOn == false){
//manage all gate positions
for(int s=0;s<NUMBER_OF_GATES;s++){
int pos = gates[activeTool][s];
if(pos == 1){
openGate(s);
} else {
closeGate(s);
}
}
turnOnDustCollection();
}
} else{
if(collectorIsOn == true){
delay(DC_spindown);
turnOffDustCollection();
}
}
}
boolean checkForAmperageChange(int which){
Voltage = getVPP(voltSensor[which]);
VRMS = (Voltage/2.0) *0.707;
AmpsRMS = (VRMS * 1000)/mVperAmp;
Serial.print(tools[which]+": ");
Serial.print(AmpsRMS);
Serial.println(" Amps RMS");
if(AmpsRMS>ampThreshold){
return true;
}else{
return false;
}
}
void turnOnDustCollection(){
Serial.println("turnOnDustCollection");
digitalWrite(dustCollectionRelayPin,1);
collectorIsOn = true;
}
void turnOffDustCollection(){
Serial.println("turnOffDustCollection");
digitalWrite(dustCollectionRelayPin,0);
collectorIsOn = false;
}
float getVPP(int sensor)
{
float result;
int readValue; //value read from the sensor
int maxValue = 0; // store max value here
int minValue = 1024; // store min value here
uint32_t start_time = millis();
while((millis()-start_time) < 500) //sample for 1 Sec
{
readValue = analogRead(sensor);
// see if you have a new maxValue
if (readValue > maxValue)
{
/*record the maximum sensor value*/
maxValue = readValue;
}
if (readValue < minValue)
{
/*record the maximum sensor value*/
minValue = readValue;
}
}
// Subtract min from max
result = ((maxValue - minValue) * 5.0)/1024.0;
return result;
}
void closeGate(uint8_t num){
Serial.print("closeGate ");
Serial.println(num);
pwm.setPWM(num, 0, gateMinMax[num][1]);
}
void openGate(uint8_t num){
Serial.print("openGate ");
Serial.println(num);
pwm.setPWM(num, 0, gateMinMax[num][1]);
delay(100);
pwm.setPWM(num, 0, gateMinMax[num][0]-5);
}
any help would really help with what I am doing wrong