' {$STAMP BS2} ' {$PBASIC 2.5} ' ************************************************************** ' * Pongwriter * ' * By Vern Graner SSE, Texas Information Services * ' ************************************************************** ' * Code for writing on Ping Pong Ball with Parallax Serial * ' * Inkjet printer system *& EFX-TEK Prop-1 BSII board * ' ************************************************************** ' * Created: V0.1 11-29-2007 * ' * Updates: Eric Lunquist- switch text routines * ' * Updates: Paul Atrkinson - Custom chartacter font test * ' * Updates: Code cleanup and comments VLG * ' ************************************************************** ' ************************ ' * 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 * ' ************************************************************************* ' Continuous print head motion for "serpentine" printing ' Create a TRG logo font character (Paul) ' Sensor for ball presence b4 printing ' Run hopper conveyor in reverse intermitently for attract mode? (test first) ' Code to print "lucky numbers" or "fortunes" on the ball ' Code to act as "magic 8-ball" for questions ' ************************ ' * I/O Definitions * ' ************************************************************************* LightPrinter PIN 0 ' Lights on the indexer tube LightIndexer PIN 1 ' Lights on the print head & pedestal LightAgitator PIN 2 ' Lights on the hopper LightTray PIN 3 ' Lights the holding bin Motor PIN 4 ' hopper conveyor motor 'avail PIN 5 ' 'avail PIN 6 ' InkJet PIN 7 ' Serial Inkjet Printer ServoIndexer PIN 8 ' Servo (Normal) - Drops single ball for printing ServoPrinthead PIN 9 ' Servo (Normal) - Positions Print Head ServoRotate PIN 10 ' Servo (Continuous) - Rotates ball for printing ServoEject PIN 11 ' Servo (Normal) - Turns to eject ball BallPresent PIN 12 ' For IR "ball present" sensor AltText PIN 13 ' PULLDOWN Switch - 1= Alt text message select ThreeLine PIN 14 ' PULLDOWN Switch - 1= Three Lines (less ink, faster finish) AutoMode PIN 15 ' PULLDOWN Switch & Button - 1= continuous print ' ************************ ' * Constants * ' ************************************************************************* Open CON $8000 ' Defines "OPEN" serial mode Baud CON Open + T9600 ' Sets baud rate to combination of speed and mode Esc CON 27 ' standard ASCII code for "escape" character Prompt CON ">" ' Inkjet: "Ready" response from inkjet board STX CON 2 ' Inkjet: Signifies "Start of text" ETX CON 3 ' Inkjet: signifies "End of text" TRUE CON 1 ' Used for more "readable" code FALSE CON 0 ' Used for more "readable" code StageDelay CON 500 ' Delay between each lighted section ' ************************ ' *Servo Position values * ' ************************ ServoEjectOut CON 1100 ' "Eject Ball from pedestal" ServoEjectIn CON 700 ' "Ready to receive ball on pedistal" ServoRotateStop CON 760 ' Continuous rotation servo- STOP ServoRotateFwdSlow CON 785 ' Continuous rotation servo- Fwd Slow ServoRotateFwdFast CON 790 ' Continuous rotation servo- Fwd Fast ServoPrintheadTop CON 1040 ' Move print head to Top of ball ServoPrintheadCenter CON 750 ' Move print head to Equator of ball ServoPrintheadBottom CON 540 ' Move print head to Bottom of ball ServoIndexerLoad CON 825 ' Allow ball into indexer tube ServoIndexerRelease CON 550 ' Release ball from indexer tube LineFeed CON 63 ' Value to increment print head one line Speed CON 10 ' Print head movement rate ' ************************ ' * Data Variables * ' ************************ cntI VAR Word ' index counter 1 (0-65,535) cntX VAR Byte ' index counter 2 (0-254) cntY VAR Byte ' index counter 3 (0-254) LineNumber VAR Word ' line number position ' ************************ ' * Begin Main Program * ' ************************************************************************* ProgramBegin: ' ************************ ' * Wait for Trigger * ' ************************ HIGH LightTray ' Light the exit area ' While waiting for the button, do some "attract mode" stuff ' i.e. sequence the lights WaitForTrigger: FOR CntY = 0 TO 3 ' Lights are on pins 0-3 TOGGLE CntY ' Turn the light ON or OFF FOR CntI = 1 TO 250 ' alter to adjust light change speed IF AutoMode = TRUE THEN StartSequence 'if trigger, start printing NEXT NEXT GOTO WaitForTrigger ' ************************ ' * Printing Being * ' ************************ StartSequence: HIGH LightAgitator HIGH LightPrinter HIGH LightIndexer HIGH LightTray ' ************************ ' * Reset all systems * ' ************************ GOSUB SystemInit ' Reset/initialize all systems ' ************************ ' * Run Hopper * ' ************************ HIGH LightAgitator ' Turn on the lights in the hopper PAUSE StageDelay ' Wait a bit (Cosmetic) HIGH Motor ' Turn on the hopper motor CntI = 0 WaitForBall: cntI = cntI + 1 IF CntI = 4096 THEN GOTO HopperEmpty IF BallPresent = FALSE THEN WaitForBall LOW Motor ' Turn off the hopper motor HIGH LightIndexer ' Light the indexer area PAUSE StageDelay ' ************************ ' * Drop a ball * ' ************************ LOW LightAgitator ' Turn off the lights in the hopper PAUSE StageDelay GOSUB DropBall ' Drop a new ball into place PAUSE StageDelay ' ************************ ' * Print the ball * ' ************************ PAUSE StageDelay ' Wait a bit before we continue (cosmetic) LOW LightIndexer ' Turn off light in indexer area FOR CntX = 1 TO 3 ' Print 3 lines, 3 times IF ThreeLine = TRUE THEN ' Print 3 lines, 1 time 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 = TRUE THEN Done_Print NEXT Done_Print: PAUSE 100 ' wait for a bit to make discrete steps ' more visible to observers. HIGH LightTray 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 GOTO ProgramBegin END ' Should never get here, but well... :) '************************** '* SubRoutines * '******************************************************************* ' ************************** ' * System Initialization * ' ************************** SystemInit: PAUSE StageDelay LOW LightAgitator ' Turn off the lights in the hopper LOW LightIndexer ' Turn off the lights on the indexer LOW LightPrinter ' Turn off the lights on the print head LOW LightTray ' Turn off the light in the catch tray ' Set linenumber to bottom of ball LineNumber = ServoPrintheadBottom 'Makes sure all servos are in "ready" positions FOR cntI = 1 TO 50 PULSOUT ServoEject, ServoEjectIn PULSOUT ServoRotate, ServoRotateStop PULSOUT ServoPrinthead, ServoPrintheadBottom PULSOUT ServoIndexer, ServoIndexerRelease PAUSE 18 NEXT ' 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)] RETURN ' Only gets here if the inkjet print board is non-responsive No_Inkjet: DEBUG "No response from Inkjet board!",CR RETURN ' ************************** ' * Print Text * ' ************************** PrintText: ' NOTE: With current ball rotation speed and intercolumn ' delay, we get a MAX of 60 characters per line! Start: ' DEBUG "Line 1",CR SEROUT Inkjet, Baud, [STX] IF AltText = FALSE THEN SEROUT Inkjet, Baud, [" WWW.THEROBOTGROUP.ORG <-> The Robot Group Inc. <-> "] ELSE SEROUT Inkjet, Baud, [" HTTP://PLUTOPIA.ORG WWW.THEROBOTGROUP.ORG!"] ENDIF SEROUT Inkjet, Baud, [ETX] RETURN Start2: ' DEBUG "Line 2",CR SEROUT Inkjet, Baud, [STX] IF AltText = FALSE THEN SEROUT Inkjet, Baud, [" Menchaca Elementary School === WHEEL ROUNDUP 2008 "] ELSE SEROUT Inkjet, Baud, [" Convergence Sustainability Futurism Art"] ENDIF SEROUT Inkjet, Baud, [ETX] RETURN Start3: ' DEBUG "Line 3",CR SEROUT Inkjet, Baud, [STX] IF AltText = FALSE THEN SEROUT Inkjet, Baud, [" The Robot Group 2008 The Ping Pong Printer "] ELSE SEROUT Inkjet, Baud, [" The Robot Group Inc. Austin, Texas "] ENDIF SEROUT Inkjet, Baud, [ETX] RETURN 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 ' ************************** ' * Indexer Sequence * ' ************************** DropBall: 'move indexer to allow a ball to enter tube 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 HIGH LightPrinter ' Light the print-head area ' PAUSE STAGEDELAY 'move indexer to allow a ball to drop to pedestal 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 to 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 Position to stop overshoot PULSOUT ServoPrinthead,ServoPrintHeadTop PAUSE 20 NEXT 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 Position to stop overshoot PULSOUT ServoPrinthead,ServoPrintHeadCenter PAUSE 20 NEXT RETURN ' ************************** ' * Print Head Bottom * ' ************************** PrintHeadBottom: ' DEBUG "Print Head Bottom",CR FOR cntI = ServoPrintHeadTop TO ServoPrintHeadBottom STEP SPEED PULSOUT ServoPrinthead,cntI PAUSE 20 'servo pulses need to be separated by 20ms NEXT FOR cntI = 1 TO 20 ' Hold Position to stop overshoot PULSOUT ServoPrinthead,ServoPrintHeadBottom PAUSE 20 'servo pulses need to be separated by 20ms NEXT RETURN ' ************************** ' * Print Head Line Feed * ' ************************** PrintHeadLineFeed: ' Note: top to bottom is 1050-> 550 FOR cntI = 1 TO 10 PULSOUT ServoPrinthead,LineNumber PAUSE 20 'servo pulses need to be separated by 20ms NEXT ' Could use code here to make sure we don't step printhead too far ' Commented out for now- VLG '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 ' 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 ' ************************** ' * Hopper Empty * ' ************************** HopperEmpty: LOW Motor LOW LightAgitator HIGH LightPrinter HIGH LightIndexer HIGH LightTray WaitForTrigger1: TOGGLE LightPrinter TOGGLE LightIndexer TOGGLE LightAgitator TOGGLE LightTray FOR CntI = 1 TO 100 ' alter to adjust light change speed IF AutoMode = FALSE THEN StartSequence 'if trigger, start printing NEXT GOTO WaitForTrigger1 '************************** '* Scatchpad Code area * '******************************************************************* ' Paul's custom font code ' font data for Robot Group stick man logo ' need to send <24 bytes> to set new char, ' SEROUT Inkjet, Baud, [$27,"N",$0,$03, $FC, $04, $02, $04, $42, $08, $45, $09, $49, $0A, $F1, $09, $49, $08, $45, $04, $42, $04, $02, $03, $FC, $00, $00] ' Data is embedded in above string = load new ascii character 0 ' DATA $03, $FC, $04, $02, $04, $42, $08, $45, $09, $49, $0A, $F1, $09, $49, $08, $45, $04, $42, $04, $02, $03, $FC, $00, $00 ' then send the ascii code for chr$(0) to make it print ' SEROUT Inkjet, Baud, [$00]