barman check weight

fablabs-ch · Sep 20, 2018 · 43cf7f3 · 43cf7f3
1 parent 63fbf70
commit 43cf7f3
Show file tree

Hide file tree

Showing 3 changed files with 5 additions and 5 deletions.
diff --git a/Arduino/CocktailJam/barman.cpp b/Arduino/CocktailJam/barman.cpp
@@ -32,8 +32,6 @@ void Barman::run(unsigned long dtMs){
         int positionMm = this->servos->getServoPosMm(this->currentItem.servo);
         this->carrier->move(positionMm);
         this->state = MOVING;
-//        Serial.print("moveTo ");
-//        Serial.println(this->currentItem.servo);
 
     }else if(this->state == MOVING){
         if(!this->carrier->isMoving()){
@@ -43,12 +41,13 @@ void Barman::run(unsigned long dtMs){
         }
 
     }else if(this->state == FILLING_START){
+        this->targetGramme = this->scale->getGramme() + this->currentItem.gramme;
         this->servos->open(this->currentItem.servo);
         this->state = FILLING_IN_PROGRESS;
-        this->delayUntilNextAction = 2000;
+//        this->delayUntilNextAction = 2000;
 
     }else if(this->state == FILLING_IN_PROGRESS){
-        if(true){ // TODO if we have enough drink
+        if(this->scale->getGramme()>=this->targetGramme){
             this->servos->close(this->currentItem.servo);
             // wait for last drop
             this->delayUntilNextAction = 2000;

diff --git a/Arduino/CocktailJam/barman.h b/Arduino/CocktailJam/barman.h
@@ -46,6 +46,7 @@ class Barman
 
         QueueItem queue[QUEUE_SIZE];
         int queueSize = 0;
+        int targetGramme = 0;
 
         unsigned long delayUntilNextAction = 0;
         QueueItem currentItem;

diff --git a/Arduino/CocktailJam/servos.h b/Arduino/CocktailJam/servos.h
@@ -26,7 +26,7 @@ class Servos
 
     private:
         int servo_close[NBSERVOS] = { 0, 0, 0, 0, 0, 0}; //value set when close (in percent)
-        int servo_open[NBSERVOS] = { 40,50,100,100,100,100 }; // value set when open (in percent)
+        int servo_open[NBSERVOS] = { 60,70,100,100,100,100 }; // value set when open (in percent)
         int servo_posMm[NBSERVOS]  = {15, 35, 65, 95, 180, 200}; // in mm
 
         int servo_pins[NBSERVOS] = { 3, 4, 5, 6, 7, 8};