Arduino Classes

In this file, all of the classes made for the Arduino are discribed in terms of how to initialize them and use them.

High Torque Servo

The High Torque Servo is a servo meant for heavy loads. The Servo is powerful with the drawback of it consuming more power. The following functions can be used in our project to utilize it:

HighTorqueServo(int minAngle, int maxAngle)

Description: Creates an instance of the High Torque Servo class with specified angle limits.

Parameters:

  • minAngle: Minimum angle limit (accepted range: [0, 180]).
  • maxAngle: Maximum angle limit (accepted range: [0, 180]).

Example:

#include "HighTorqueServo.h"

// Initialize a High Torque Servo with angle limits
HighTorqueServo myHighTorqueServo(0, 180);

void init(uint8_t servoPin, float percentage)

Description: Initialize the High Torque Servo. This function needs to be called in the setup function within the Arduino .ino file.

Parameters:

  • servoPin: Pin number for the servo.
  • percentage: Initial percentage turned (accepted range: [0.0, 100.0]).

Example:

void setup() {
    myHighTorqueServo.init(6, 0.0);
}

void write(float percentage)

Description: Turns the servo into a position based on the percentage of the minimum and maximum angle.

Parameters:

  • percentage: Percentage to turn to (accepted range: [0.0, 100.0]).

Example:

#include <Arduino.h>

void loop() {
    delay(1000);
    myHighTorqueServo.write(100.0);
}

After performing all of the functions in the documentation you will succesfully initialize the servo with a resricted minimum and maximum angle and you will have moved it from 0 percent of that angle to 100 percent. This results in the Servo moving from 0 degrees to 180 degrees.

StateMachine

Overview

The StateMachine class implements a state machine that manages transitions between SM_IDLE_STATE, SM_TAPPING_STATE, and SM_PAUSED_STATE based on specific events: SM_ZERO and SM_ONE.

Constants

  • SM_IDLE_STATE: Represents the idle state (value: 0).
  • SM_TAPPING_STATE: Represents the tapping state (value: 1).
  • SM_PAUSED_STATE: Represents the paused state (value: 2).
  • SM_ZERO: Represents event zero.
  • SM_ONE: Represents event one.

Class Members

Constructor

StateMachine()

Creates an instance of the StateMachine class with an initial state of SM_IDLE_STATE.

Methods

void handleInputEvent(int SM_event)

Handles input events and manages state transitions.

  • SM_event: The event triggering the state transition (SM_ZERO or SM_ONE).
int getState() const

Gets the current state of the StateMachine.

  • Returns: int - The current state of the StateMachine.

Usage Example

#include "StateMachine.h"

// Create a StateMachine instance
StateMachine stateMachine;

void setup() {
    stateMachine.handleInputEvent(SM_ONE); // Perform state transitions based on events
}

void loop() {
    int currentState = stateMachine.getState(); // Get the current state
    // Perform actions based on currentState
}

Loadcell

Overview

The arduino will make use of a loadcell to determine the percentage of liquids left in the tank.

HighTorqueServo(int minAngle, int maxAngle)

Description: Creates an instance of the High Torque Servo class with specified angle limits.

Parameters:

  • doutPin: pin used for digital output (desired: Digital pin 2).
  • sckPin: pin used for sck (desired: Digital pin 3).

Example:

#include "Scale.h"  

// Constructor: Initializes the Scale object with specified pins and calibration factor
Scale::Scale(int doutPin, int sckPin)
  : doutPin(doutPin), sckPin(sckPin) {
}

Methods

void Scale::init()

Sets up the scale and runs the reset function once to calibrate the scale to 0. The scale factor is also applied here.

void Scale::reset()

Uses the built in tare function to recalibrate the scale to 0.

float Scale::getWeight()

Returns the current weight of the tank in grams.

  • Returns: float - The current weight of the tank.
int Scale::getPercentage()

Returns the current percentage of liquids in the tank.

  • Returns: int - The current percentage.

Usage Example

#include "Scale.h"
#include <Wire.h>

const int LOADCELL_DOUT_PIN = 2;  
const int LOADCELL_SCK_PIN = 3;   

// Create a scale instance
Scale scale(LOADCELL_DOUT_PIN, LOADCELL_SCK_PIN);


void setup() {
  scale.init(); // initializes the scale
}

void loop() {
    int currentState = stateMachine.getState(); // Get the current state
    int percentage = scale.getPercentage(); // Get the percentage of the tank.
}