/*
Harvard University
SEAS
Course: ES227
Title: Soft Robotics KIT - Sample code V. 1.0
Creator: Panagiotis Polygerinos
Date: January 2013
*/
 
int regulator = 9; // Pressure regulator connected to digital pin 9
int flow = A0; // Select the analogue input pin for the flow sensor
int pressure1 = A1; // Select the analogue input pin for pressure sensor 1
int pressure2 = A2; // Select the analogue input pin for pressure sensor 2
int potentiometer = A3; // Select the analogue input pin for potentiometer
float sensorValue1 = 0; // Variable to store the value coming from the flow sensor
float sensorValue2 = 0; // Variable to store the value coming from pressure sensor 1
float sensorValue3 = 0; // Variable to store the value coming from pressure sensor 2
float pot = 0; // Variable to store the value coming from potentiometer
const int Valve1 = 2; // Select digital PIN 2 for valve 1
const int Valve2 = 3; // Select digital PIN 3 for valve 2
const int Valve3 = 4; // Select digital PIN 4 for valve 3
const int Valve4 = 5; // Select digital PIN 5 for valve 4
 
 
void setup() 
{ 
Serial.begin(9600); // Initialize serial communications at 9600 bps
pinMode(Valve1, OUTPUT); // Set digital PIN to output for valve 1
pinMode(Valve2, OUTPUT); // Set digital PIN to output for valve 2
pinMode(Valve3, OUTPUT); // Set digital PIN to output for valve 3
pinMode(Valve4, OUTPUT); // Set digital PIN to output for valve 4
pinMode(regulator, OUTPUT); // Set digital PIN as PWM output for Regulator
}
 
void loop() 
{
// Read the value from potentiometer:
pot = analogRead(potentiometer); // Read value from analogue input A3
 
// Read the value from Flow sensor:
sensorValue1 = analogRead(flow); // Read value from analogue input A0
sensorValue1 = sensorValue1 * 0.0049; // Flow sensor calibration 
sensorValue1 = (sensorValue1-1.25)/0.75; // See datasheet of sensor for details
Serial.print("\n\n Flow = " ); // Print message with the flow value 
Serial.print(sensorValue1); 
Serial.print(" SLPM " ); 
 
// Read the value from Pressure sensor 1:
sensorValue2 = analogRead(pressure1); // Read value from analogue input A1
sensorValue2 = sensorValue2 / 204.6; // Pressure sensor calibration
sensorValue2 = (sensorValue2 - 0.514)/0.04112; // See datasheet of sensor for details
Serial.print("\n Pressure 1 = " ); // Print message with the pressure value
Serial.print(sensorValue2); 
Serial.print(" PSI " );
 
// Read the value from Pressure sensor 2:
sensorValue3 = analogRead(pressure2); // Read value from analogue input A2
sensorValue3 = sensorValue3 / 204.6; // Pressure sensor calibration
sensorValue3 = (sensorValue3 - 0.514)/0.04112; // See datasheet of sensor for details
Serial.print("\n Pressure 2 = " ); // Print message with the pressure value
Serial.print(sensorValue3); 
Serial.print(" PSI " );
 
 
digitalWrite(Valve1, HIGH); // turn on/off valve 1
digitalWrite(Valve2, LOW); // turn on/off valve 2
digitalWrite(Valve3, LOW); // turn on/off valve 3
digitalWrite(Valve4, LOW); // turn on/off valve 4
 
analogWrite(regulator, pot/4); // analogRead values go from 0 to 1023, 
//analogWrite values from 0 to 255
 
// wait X milliseconds before the next loop. Adjust time according to your needs.
delay(200); 
}