' {$STAMP BS2} ' {$PBASIC 2.5} ' ************************************************************** ' * Pongwriter * ' * By Vern Graner SSE, Texas Information Services * ' ************************************************************** ' * Code for writing on Ping Pong Ball with Parallax Serial * ' * Inkjet printer system * ' ************************************************************** ' * Created: V0.1 11-29-2007 * ' ************************************************************** ' ************************ ' * Conditonal Compile * ' ************************************************************************* #SELECT $STAMP #CASE BS2, BS2E, BS2PE T2400 CON 396 T4800 CON 188 T9600 CON 84 T19K2 CON 32 T38K4 CON 6 #CASE BS2SX, BS2P T2400 CON 1021 T4800 CON 500 T9600 CON 240 T19K2 CON 110 T38K4 CON 45 #CASE BS2PX T2400 CON 1646 T4800 CON 813 T9600 CON 396 T19K2 CON 188 T38K4 CON 84 #ENDSELECT ' ************************ ' * Idea Cache * ' ************************************************************************* ' Switch to change text of message ' switch to change from 9 lines to three lines of text ' auto/manual switch for continuous OR one-shot print ' NOTE: Button is in parallel w/the switch ' need relay for agitator motor (gang ULN2803 channels for current?) ~1.5a at stall! ' Four PIN Connector for agitator motor and LEDs ' Mount LEDs in top w/hot melt ' make one more set of LEDs for exit tray area ' extra feature? maybe speed vs. looks? ' ************************ ' * I/O Definitions * ' ************************************************************************* LightPrinter PIN 0 ' Lights the indexer tube LightIndexer PIN 1 ' Lights the print head & pedestal LightAgitator PIN 2 ' Lights the ball jar LightTray PIN 3 ' Lights the finished products 'avail PIN 4 ' 'avail PIN 5 ' 'avail PIN 6 ' InkJet PIN 7 ' Serial Inkjet Printer ServoIndexer PIN 8 ' Allows a single ball to drop for printing ServoPrinthead PIN 9 ' Positions Print Head ServoRotate PIN 10 ' Rotates ball for printing ServoEject PIN 11 ' Turns to eject ball 'avail PIN 12 ' AltText PIN 13 ' Alternate text message ThreeLine PIN 14 ' Three Lines (less ink used) AutoMan PIN 15 ' Switch and button for auto/maual feed ' ************************ ' * Constants * ' ************************ Open CON $8000 Baud CON Open + T9600 Prompt CON ">" ' ready prompt from HP driver STX CON 2 ' start of text ETX CON 3 ' end of text Esc CON 27 ' OEM configuration command ServoEjectOut CON 1100 ' ServoEjectIn CON 700 ServoRotateStop CON 760 ServoRotateFwdSlow CON 785 ServoRotateFwdFast CON 790 ServoPrintheadTop CON 1040 ServoPrintheadCenter CON 750 ServoPrintheadBottom CON 540 ServoIndexerLoad CON 825 ' ServoIndexerRelease CON 550 ' LineFeed CON 63 'interval for one LF Speed CON 10 ' Set the step rate ' Right CON 1100 ' PWN value to move servo to "right" position ' Left CON 250 ' PWM for Left ' ************************ ' * Data Variables * ' ************************ cntI VAR Word ' index counter for subroutines cntX VAR Byte ' index counter for main cntY VAR Byte ' index counter # for main body LineNumber VAR Word 'line number position variable ' ************************ ' * Begin Main Program * ' ******************************************************** ' ************************ ' * Initialization * ' ************************ ProgramBegin: DEBUG "Start Sequence!",CR IF ThreeLine = 1 THEN DEBUG "Three Line Mode", CR ELSE DEBUG "Nine Line Mode", CR ENDIF IF AltText = 1 THEN DEBUG "Alternate Text", CR ELSE DEBUG "Standard Text", CR ENDIF ' DEBUG"----------------",CR GOSUB PlaceInit ' Get all servos into start positions ' ************************ ' * Agitate Hopper * ' ************************ ' Agitator operation code goes here HIGH LightAgitator PAUSE 2000 LOW LightAgitator ' ************************ ' * Drop a ball * ' ************************ HIGH LightIndexer ' Light the area GOSUB DropBall ' Drop a new ball into place LOW LightIndexer HIGH LightPrinter ' Light the area PAUSE 500 ' wait for ball to "settle" ' ************************ ' * Print the ball * ' ************************ FOR CntX = 1 TO 3 ' Print 3 lines, 3 times IF ThreeLine = 1 THEN ' do three "line feeds" 'DEBUG "Three Line Mode" FOR CntY = 1 TO 2 GOSUB PrintHeadLineFeed NEXT ENDIF GOSUB PrintHeadLineFeed GOSUB PrintText GOSUB RotateBallFwdSlow GOSUB PrintHeadLineFeed GOSUB Start2 GOSUB RotateBallFwdSlow GOSUB PrintHeadLineFeed GOSUB Start3 GOSUB RotateBallFwdSlow IF ThreeLine = 1 THEN Done_Print NEXT Done_Print: PAUSE 100 ' make discrete steps more visible to observers. GOSUB PrintHeadBottom ' Get the print head out of the way PAUSE 100 ' Aesthetics-- Wait for motion to stop ' ************************ ' * Eject the ball * ' ************************ GOSUB EjectBall 'Eject the ball DEBUG "Done!",CR 'Cycle finished LOW LightPrinter ' Light the area ' ************************ ' * Light the Tray * ' ************************ HIGH LightTray ' Light the exit area WaitForButton: IF AutoMan = 0 THEN WaitForButton LOW LightTray GOTO ProgramBegin END ' Should never get here, but... :) 'SubRoutines '******************************************************************* ' ************************** ' * Print Text * ' ************************** PrintText: Reset: ' Reset InkJet SEROUT Inkjet, Baud, [Esc, "C", 25] ' intercolumn delay values 1-25 15=1.5 ms SERIN Inkjet, Baud, 500, No_Inkjet, [WAIT(Prompt)] Start: ' DEBUG "Line 1",CR SEROUT Inkjet, Baud, [STX] ' SEROUT Inkjet, Baud, [" WWW.TheRobotGroup.ORG <*==-|-==*> First Night Austin 2007"] IF AltText = 0 THEN SEROUT Inkjet, Baud, [" WWW.TheRobotGroup.ORG First Night Austin 2007 "] ELSE SEROUT Inkjet, Baud, [" Bow Down Before Your New Robot Ping Pong Overlords!! "] ENDIF SEROUT Inkjet, Baud, [ETX] RETURN Start2: ' DEBUG "Line 2",CR SEROUT Inkjet, Baud, [STX] IF AltText = 0 THEN SEROUT Inkjet, Baud, [" >-< Happy New Year Austin! >-< Happy New Year Austin! "] ELSE SEROUT Inkjet, Baud, [" Puny Humans! PONGINATOR Rules! You will be swept aside!"] ENDIF SEROUT Inkjet, Baud, [ETX] RETURN Start3: ' DEBUG "Line 3",CR SEROUT Inkjet, Baud, [STX] IF AltText = 0 THEN SEROUT Inkjet, Baud, [" < - > The Robot Group, Incorporated Austin, Texas < - > "] ELSE SEROUT Inkjet, Baud, [" Happy New Years! 2008 The Year of the Robot! Austin, Texas "] ENDIF SEROUT Inkjet, Baud, [ETX] RETURN No_Inkjet: DEBUG "No Inkjet Detected",CR RETURN ' ************************** ' * Servo Positions INIT * ' ************************** PlaceInit: ' DEBUG "Init Servo Positions",CR LineNumber = ServoPrintheadBottom ' Set linenumber to bottom of ball FOR cntI = 1 TO 50 PULSOUT ServoEject, ServoEjectIn PULSOUT ServoRotate, ServoRotateStop PULSOUT ServoPrinthead, ServoPrintheadBottom PULSOUT ServoIndexer, ServoIndexerRelease PAUSE 18 NEXT ' DEBUG "Servos ready",CR RETURN ' ************************** ' * Rotate Ball * ' ************************** RotateBallStop: DEBUG "Rotate STOP",CR FOR cntI = 1 TO 100 ' Hold in place PULSOUT ServoRotate,ServoRotateStop PAUSE 20 NEXT RETURN RotateBallFwdSlow: ' DEBUG "Rotate Slow",CR FOR cntI = 1 TO 95 ' Hold in place PULSOUT ServoRotate,ServoRotateFwdSlow PAUSE 20 NEXT RETURN RotateBallFwdFast: ' DEBUG "Rotate Fast",CR FOR cntI = 1 TO 65 ' Hold in place PULSOUT ServoRotate,ServoRotateFwdFast PAUSE 20 NEXT RETURN ' ************************** ' * Load Ball Sequence * ' ************************** DropBall: 'DEBUG "Load ball=",DEC ServoIndexerLoad,CR FOR cntI = ServoIndexerRelease TO ServoIndexerLoad STEP SPEED PULSOUT ServoIndexer,cntI PAUSE 20 NEXT FOR cntI = 1 TO 25 ' Hold Position to stop overshoot PULSOUT ServoIndexer,ServoIndexerLoad PAUSE 20 NEXT ' DEBUG "Release ball=",DEC ServoIndexerRelease,CR FOR cntI = ServoIndexerLoad TO ServoIndexerRelease STEP SPEED PULSOUT ServoIndexer,cntI PAUSE 20 NEXT FOR cntI = 1 TO 10 ' Hold Position to stop overshoot PULSOUT ServoIndexer,ServoIndexerRelease PAUSE 20 NEXT RETURN ' ************************** ' * Print Head Top * ' ************************** PrintHeadTop: ' DEBUG "Print Head Up",CR FOR cntI = ServoPrintHeadBottom TO ServoPrintHeadTop STEP SPEED PULSOUT ServoPrinthead,cntI PAUSE 20 NEXT FOR cntI = 1 TO 20 ' Hold in place PULSOUT ServoPrinthead,ServoPrintHeadTop PAUSE 20 NEXT ' PAUSE 2000 RETURN ' ************************** ' * Print Head Center * ' ************************** PrintHeadCenter: ' DEBUG "Print Head Center",CR FOR cntI = ServoPrintHeadTop TO ServoPrintHeadCenter STEP SPEED PULSOUT ServoPrinthead,cntI PAUSE 20 NEXT FOR cntI = 1 TO 20 ' Hold in place PULSOUT ServoPrinthead,ServoPrintHeadCenter PAUSE 20 NEXT ' PAUSE 2000 RETURN ' ************************** ' * Print Head Bottom * ' ************************** PrintHeadBottom: ' DEBUG "Print Head Bottom",CR FOR cntI = ServoPrintHeadTop TO ServoPrintHeadBottom STEP SPEED PULSOUT ServoPrinthead,cntI PAUSE 20 NEXT FOR cntI = 1 TO 20 ' Hold in place PULSOUT ServoPrinthead,ServoPrintHeadBottom PAUSE 20 NEXT ' PAUSE 2000 RETURN ' ************************** ' * Print Head Line Feed * ' ************************** PrintHeadLineFeed: ' DEBUG "Print Head LineFeed",CR ' top to bottom is 1050-> 550 ' DEBUG "LineNumber=", DEC LineNumber,CR FOR cntI = 1 TO 10 PULSOUT ServoPrinthead,LineNumber PAUSE 20 NEXT 'IF LineNumber < 1050 THEN ' see if we are at last line LineNumber = Linenumber + LineFeed ' if not, the n move the head 'ELSE ' GOTO NewBall ' if so, then start over again 'ENDIF RETURN ' ************************** ' * Eject Ball * ' ************************** EjectBall: ' DEBUG "Eject ball",CR FOR cntI = ServoEjectIn TO ServoEjectOut STEP SPEED PULSOUT ServoEject,cntI PAUSE 20 NEXT ' PAUSE 200 ' DEBUG "Return to Catch",CR FOR cntI = ServoEjectOut TO ServoEjectIn STEP SPEED PULSOUT ServoEject,cntI PAUSE 20 NEXT FOR cntI = 1 TO 25 ' Prevent overshoot PULSOUT ServoEject,ServoEjectIn PAUSE 20 NEXT RETURN