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bdev:multichannel_syringe_pump

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bdev:multichannel_syringe_pump [2020/11/06 20:43]
richard 		bdev:multichannel_syringe_pump [2021/08/16 22:22] (current)
Line 39: Line 39:
 Now connect the multichannel_syringeshuttle_clipbracket() and the multichannel_plunger_clamp().  Now connect the multichannel_syringeshuttle_clipbracket() and the multichannel_plunger_clamp(). 
  
 +{{ :bdev:syringeclamp_assy.png?400 |}}
  
  
 +|{{ :bdev:multichannel_syringeshuttle_clipbracket.stl |}}|{{ :bdev:multichannel_syringeshuttle_clipbracket.png?200 |}}|
 +|{{ :bdev:multichannel_plunger_clamp.stl |}}|{{ :bdev:multichannel_plunger_clamp.png?200 |}}|
 +
 +
 +Connect the plunger fastener module
 +
 +{{ :bdev:plungerfastener.png?400 |}}
 +
 +|{{ :bdev:syringe_1ml_stack_1piece_multichannel_clamp.stl |}}|{{ :bdev:syringe_1ml_stack_1piece_multichannel_clamp.png?200 |}}|
 +|{{ :bdev:syringe_1ml_stack_1piece_multichannel.stl |}}|{{ :bdev:syringe_1ml_stack_1piece_multichannel.png?200 |}}|
 +
 +
 +Now attach the clamp extrusion connectors that will be used for securing the syringes.
 +
 +{{ :bdev:syringesupports.png?400 |}}
 + 
 +
 +{{ :bdev:clampextrusionconnectors.png?400 |}}
 +
 +|{{ :bdev:multichannel_syringe1ml_clamp_extrusion_connect.png?200 |}}|{{ :bdev:multichannel_syringe1ml_clamp_extrusion_connect.stl |}}|
 +
 +
 +|{{ :bdev:multichannel_syringe1ml_clamp_luerlock.stl |}}|{{ :bdev:multichannel_syringe1ml_clamp_luerlock.png?200 |}}|
 +|{{ :bdev:multichannel_syringe1ml_clamp.stl |}}|{{ :bdev:multichannel_syringe1ml_clamp.png?200 |}}|
 +
 +
 +Now mount the syringes
 +
 +
 +{{ :bdev:syringesnow.png?400 |}}
 +
 +
 +|{{ :bdev:multichannel_syringe1ml_clamp_top_luerlock.stl |}}|{{ :bdev:multichannel_syringe1ml_clamp_top_luerlock.png?200 |}}|
 +
 +Endstop
 +
 +
 +|{{ :bdev:endstop_multichannel_syringe.stl |}}|{{ :bdev:endstop_multichannel_syringe.png?200 |}}|
 +|{{ :bdev:syringe_endstop_flag.stl |}}|{{ :bdev:syringe_endstop_flag.png?200 |}}|
 +
 +
 +
 +<code |  multistepper_accel_2wireendstop>
 +#include <AccelStepper.h>
 +
 +
 +#include <Wire.h>
 +#include <SoftwareSerial.h>
 +#define dirPin 4
 +#define stepPin 3
 +#define motorInterfaceType 1
 +
 +AccelStepper stepper = AccelStepper(motorInterfaceType, stepPin, dirPin);
 +
 +
 +
 +//const float stepsperul = 230; //resolution of 1ml disposable syringes
 +//const float stepsperul = 131.53; //resolution of 1ml disposable syringes
 +//const float stepsperul = 272.12; //resolution of 250ul glass syringe
 +
 +
 +int enablePin = 5;
 +int estepsPin = 3;
 +int directionPin = 4;
 +int elimitPin = A1; 
 +//int esteps = 1000;
 +//int esteprate = 500;
 +//int estepsincrement = 0;
 +int estepcount = 0;
 +
 +//float stepsperul = 23; //resolution of 1ml disposable syringes
 +float stepsperul = 131.43;
 +
 +int acc = 30;
 +String command;
 +long int currpos;
 +long int pos;
 +
 +void setup() {
 +  // put your setup code here, to run once:
 +  stepper.setMaxSpeed(1000*16);
 +  Serial.begin(115200);
 +  pinMode(enablePin, OUTPUT);
 +  pinMode(directionPin, OUTPUT);
 +  pinMode(estepsPin, OUTPUT);
 +  pinMode(elimitPin, INPUT);
 +  digitalWrite(elimitPin, HIGH); 
 +  digitalWrite(enablePin,LOW);
 +  currpos = 0;
 +  stepper.setAcceleration(acc);
 +}
 +
 +void loop() {
 +  // put your main code here, to run repeatedly:
 + if(Serial.available())
 + {
 +    char c = Serial.read();
 +    if (c== '\n')
 +    {
 +      currpos = parseCommand(command, currpos);
 +      command = "";
 +    }
 +    else 
 +    {
 +      command +=c;
 +    }
 + }
 + delay(30);
 +}
 +
 +long int parseCommand(String com, long int currpos)
 +{
 +  //Serial.print("Your command: ");
 +  //Serial.println(com);
 +
 +  //"G1E10F200";
 +  String part1 = com.substring(0,com.indexOf("e"));
 +  if (part1.equalsIgnoreCase("g1")){
 +    String part2 = com.substring(com.indexOf("e")+1,com.indexOf("s"));
 +    String part3 = com.substring(com.indexOf("s")+1,com.indexOf("a"));
 +    String part4 = com.substring(com.indexOf("a")+1);
 +    int vpos = part2.toInt();
 +    pos = vpos * stepsperul; 
 +    int vfeed = part3.toInt();
 +    int feed = vfeed * stepsperul;
 +    //int acc = part4.toInt();
 +    //int feed = vfeed;
 +    int acc = feed/3;
 +    if ((pos-currpos) < 0) {
 +      feed = feed * -1;
 +    }
 +    moveacc((pos-currpos), feed, acc);
 +    currpos = pos;
 +  }
 +  else if(com.equalsIgnoreCase("m114")){
 +   Serial.print("Step Position: ");
 +   Serial.print(pos);
 +   Serial.print(" volume Position: ");
 +   Serial.println((pos/stepsperul),3);
 +  } 
 +  else if(com.equalsIgnoreCase("g28e0")){
 +   currpos = homing(estepsPin,directionPin,elimitPin);
 +   currpos = 0;
 +   pos = 0;
 +  } 
 +  else if(com.equalsIgnoreCase("readinput")){
 +   Serial.print("Input ");
 +   Serial.println(digitalRead(elimitPin));
 +  } 
 +  
 +  else if(com.equalsIgnoreCase("info")){
 +    Serial.println("multistepper");
 +  }
 +  else {
 +   Serial.print("Did not recognize ");
 +   Serial.println(com);
 +  }
 +   return currpos;
 +}
 +
 +
 +void moveacc(long int inc, int spd, int acc){
 + //speed is in steps per second
 + stepper.setCurrentPosition(0);
 + stepper.setAcceleration(acc);
 + while(stepper.currentPosition() != inc){
 +    stepper.setSpeed(spd);
 +    stepper.runSpeed();
 + }
 +}
 +
 +
 +
 +int homing(int stepsPin, int directionPin, int limitPin){
 +  digitalWrite(directionPin,LOW); // Set Dir high
 +  int checker = 1;
 +  int cnter = 0;
 +  int stpper = 1;
 +   while(stpper > 0){
 +    checker = digitalRead(limitPin);
 +    if (checker == HIGH){
 +      cnter = cnter + 1;
 +    }
 +    else {
 +      cnter = 0;
 +    }
 +    if (cnter > 4){
 +      stpper = 0;
 +    }
 +    digitalWrite(stepsPin,HIGH); // Output high
 +    delayMicroseconds(200); // Wait 1/2 a ms
 +    digitalWrite(stepsPin,LOW); // Output low
 +    delayMicroseconds(200); // Wait 1/2 a ms
 +   }
 +   digitalWrite(directionPin,HIGH); // Set Dir high
 +   for(int x = 0; x < 18; x++){ // Loop 200 times
 +    digitalWrite(stepsPin,HIGH); // Output high
 +    delayMicroseconds(1000); // Wait 1/2 a ms
 +    digitalWrite(stepsPin,LOW); // Output low
 +    delayMicroseconds(1000); // Wait 1/2 a ms
 +   }
 +    int stepcount = 0;
 +    return stepcount;
 +}
 +</code>
bdev/multichannel_syringe_pump.1604695427.txt.gz ยท Last modified: 2021/08/16 22:21 (external edit)

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