This is my second time writing a state machine. With both so far i have been able to use the serial monitor to figure out where my problem is. I've been pounding my head off my desk debugging this code over the last few days but I'm officially stumped.
Disclaimer: I'm sure I'm missing something so simple but I can't for the life of me figure out where I'm going wrong.
The code is a state machine that I'm using to run an automatic hot stamping machine for work. The relays are used to trigger pneumatic pistons used to cycle parts and to stamp. The IR Sensor is used to check to see if the machine is loaded with parts. So once the stamp button is pressed the machine will continue to cycle the relays as long as the machine stays loaded. All of this works, it even stops when the ir sensor no longer detects the machine is loaded.
The problem came in when I added "button1". button1 is supposed to be used as a stop button. if the user needs to stop the machine while its still loaded they can just press and hold this button then it should go back to the beginning of the state machine and be ready for the stampButton to be pressed again to start again(it checks for this button press in state 10 before it has time to cycle). This works, in state 10 it checks the button and if pressed it jumps to state 12 but this is where I run into problems.
The code gets stuck in state 12 instead of jumping to state 0. The code is then locked in state 12 and nothing I've tried gets it out. I've tried using state 12 as a button debouncing state (i.e. Case 12: t_0_button1 = millis(); state = 13; break;) but that gets stuck as well. That's why I changed it to just simply jump to state 0.
I do not know why the code is getting stuck in state 12. Someone please help me with my beginner mistakes.
below is the code and attached is the serial monitor display:
#include <Stepper.h> //stepper library
#include <LiquidCrystal_I2C.h> //LCD library
#include <Wire.h>
LiquidCrystal_I2C lcd(0x27, 2, 1, 0, 4, 5, 6, 7, 3, POSITIVE);
//declairing pins
int irSensor = 9; //Clip load check sensor
int LED = 4; //Load indicator
int stampButton = 2; //Arcade button
int relay1 = 6; //Pusher
int relay2 = 5; //Stamp
int detect;
int val_irSensor = 0;
int val_button1 = 0;
int val_stampButton = 0;
int val_LED = 0;
int state = 0;
int statePrev = 0;
int button1 = 3; //stop button
//declaring Stepper Pins
int in1Pin = 13; //in1 pin of gluing stepper driver
int in2Pin = 12; //in2 pin of gluing stepper driver
int in3Pin = 11; //in3 pin of glueing stepper driver
int in4Pin = 10; //in4 pin of glueing stepper driver
const int stepsPerRev = 200; //steps per one revalution of the glueing stepper motor and turn table
Stepper myStepper(stepsPerRev, in1Pin, in2Pin, in3Pin, in4Pin); //setting pins of the gluing stepper motor and naming the motor
//declaring unsigned long
unsigned long t_button1 = 0;
unsigned long t_0_button1 = 0;
unsigned long t_stampButton = 0;
unsigned long t_0_stampButton = 0;
unsigned long bounce_delay = 5;
void setup() {
//declaring inputs
pinMode (irSensor, INPUT);
//declaring outputs
pinMode (LED, OUTPUT);
pinMode (relay1, OUTPUT);
pinMode (relay2, OUTPUT);
//calling pullup resistors
pinMode (stampButton, INPUT_PULLUP);
pinMode (button1, INPUT_PULLUP);
digitalWrite (relay1, HIGH);
digitalWrite (relay2, HIGH);
digitalWrite (LED, HIGH);
pinMode(in1Pin, OUTPUT);
pinMode(in2Pin, OUTPUT);
pinMode(in3Pin, OUTPUT);
pinMode(in4Pin, OUTPUT);
lcd.begin(16, 2);
lcd.clear();
lcd.print ("HELLO!");
delay (2000);
lcd.setCursor (0, 0);
Serial.begin (9600);
Serial.println ("start");
}
void loop() {
int stampPot = analogRead (A1);
int stampTime = map(stampPot, 1023, 0, 0, 10 );
int foilpot = analogRead (A2);
int foilshiftlength = map (foilpot, 1023, 0, 0, 500);
//printing on screen
lcd.setCursor(0, 0);
lcd.print ("stamp time = ");
lcd.setCursor(13, 0);
lcd.print(" ");
lcd.setCursor(13, 0);
lcd.print (stampTime);
lcd.setCursor(0, 1);
lcd.print ("foil shift = ");
lcd.setCursor(13, 1);
lcd.print(" ");
lcd.setCursor(13, 1);
lcd.print (foilshiftlength);
Serial.print("stamp time = ");
Serial.println(stampTime);
Serial.print("foil shift = ");
Serial.println(foilshiftlength);
Serial.println ("CYCLE");
SM_LM (); //calling state machine
Serial.println("IR Check");
val_irSensor = digitalRead (irSensor);
if (state == 0 ) {
Serial.println ("State = 0");
lcd.setCursor(0, 0);
lcd.print ("stamp time = ");
lcd.setCursor(13, 0);
lcd.print(" ");
lcd.setCursor(13, 0);
lcd.print (stampTime);
lcd.setCursor(0, 1);
lcd.print ("foil shift = ");
lcd.setCursor(13, 1);
lcd.print(" ");
lcd.setCursor(13, 1);
lcd.print (foilshiftlength);
Serial.print("stamp time = ");
Serial.println(stampTime);
Serial.print("foil shift = ");
Serial.println(foilshiftlength);
state = 1;
}
if (state == 1) {
Serial.println("state = 1");
val_button1 = digitalRead(button1);
if (val_button1 == LOW) {
state = 13;
}
int detect = digitalRead(irSensor);
if (detect == LOW) {
digitalWrite(LED, LOW);
state = 0;
}
if (detect == HIGH) {
digitalWrite (LED, HIGH);
state = 2;
}
}
if (state == 6) {
Serial.println ("State = 6");
int detect = digitalRead(irSensor);
if (detect == LOW) {
digitalWrite(LED, LOW);
}
if (detect == HIGH) {
digitalWrite (LED, HIGH);
}
digitalWrite(relay1, LOW);
delay (2000);
state = 7;
}
if (state == 7) {
Serial.println ("State = 7");
digitalWrite (relay2, LOW);
delay (stampTime * 100);
digitalWrite (relay2, HIGH);
delay (2000);
state = 8;
}
if (state == 8) {
Serial.println ("State = 8");
myStepper.setSpeed(260);
myStepper.step(foilshiftlength);
state = 9;
}
if (state == 10) {
Serial.print("state = ");
Serial.println(state);
val_button1 = digitalRead(button1);
if (val_button1 == LOW) {
state = 12;
}
if (val_button1 != LOW) {
state = 11;
}
}
if (state == 11) {
Serial.print("state = ");
Serial.println(state);
digitalWrite (relay1, HIGH);
delay (2000);
state = 6;
}
if (state != statePrev) {
Serial.print("state = ");
Serial.println(state);
}
}
void SM_LM () {
statePrev = state;
switch (state) {
case 0: //reset
statePrev = 0;
Serial.print("state = ");
Serial.println(state);
break;
case 1: //checking if hot stamp machine is loaded
break;
case 2:
Serial.println ("State = 2");
val_LED = digitalRead(LED);
if (val_LED == LOW) {
state = 0;
}
if (val_LED == HIGH) {
state = 3;
}
break;
case 3: //checking for button press
Serial.println ("State = 3");
val_stampButton = digitalRead(stampButton);
if (val_stampButton == LOW) {
Serial.println ("Button Press");
state = 4;
}
break;
case 4: //button timer
Serial.println ("State = 4");
t_0_stampButton = millis ();
state = 5;
break;
case 5: //button debounce
Serial.println ("State = 5");
val_stampButton = digitalRead(stampButton);
t_stampButton = millis();
if (val_stampButton == HIGH) {
state = 0;
}
if (t_stampButton - t_0_stampButton > bounce_delay) {
state = 6;
}
case 6: //activate pusher
break;
case 7: //stamp
break;
case 8: //foil stepper motor place holder
break;
case 9:
int detect = digitalRead(irSensor);
if (detect == LOW) {
digitalWrite(LED, LOW);
}
if (detect == HIGH) {
digitalWrite (LED, HIGH);
}
val_LED = digitalRead(LED);
if (val_LED == LOW) {
digitalWrite (relay1, HIGH);
state = 0;
}
if (val_LED == HIGH) {
state = 10;
}
break;
case 10:
break;
case 11:
break;
case 12: //button timer
state = 0;
break;
case 13:
t_0_button1 = millis();
state = 14;
break;
case 14: //button bounce
Serial.print("state = ");
Serial.println(state);
t_button1 = millis();
if (val_button1 == HIGH) {
state = 6;
}
if (t_button1 - t_0_button1 > bounce_delay) {
digitalWrite (relay1, HIGH);
delay (2000);
state = 0;
}
}
}
