RoboBarman

This project is for the computer systems architecture course. Its objective is to create a computer system designed to detect cups placed in specific locations and fill them with liquid. The compiled code will run on an ATmega328P microcontroller. The prototype board for development is Arduino Uno.

Getting started

0. Prerequisites:

• VS Code with installed extension PlatformIO IDE.
• Arduino Uno board (ATmega328P).

1. Clone repo and open with VS Code. PlatformIO automatically downloads all dependencies.

git clone https://github.com/Aleks334/RoboBarman.git

2. Make sure that your board is detected by PlatformIO by running: pio device list.

3. Choose your enviroment This project supports two hardware configurations defined in platformio.ini. You must specify the environment using the -e flag.

Environment	Hardware target	Bootloader
uno	Arduino Uno board	Optiboot (115200 baud)
atmega328	standalone chip on custom PCB	Duemilanove (57600 baud)

4. Compile & upload

For Arduino Uno:

pio run -e uno

pio run -e uno -t upload

For standalone ATmega328P (used on our custom PCB):

pio run -e atmega328

pio run -e atmega328 -t upload

More about PlatformIO CLI and moving from Arduino to a microcontroller on a breadboard

Testing

To run unit tests located in the test/ directory, specify your environment:

Testing on Uno:

pio test -e uno

Testing on standalone chip:

pio test -e atmega328

Configuration

To adjust the behaviour or change pins please edit GlobalConfig.h file here.

Project documentation

Setup

• The arm returns to position 0
• The pump is off
• The order queue is empty
• currently_served = NULL
• stations array length = NUMBER_OF_STATIONS - 1. All stations default to IDLE state.
• LEDs are SOLID_GREEN

States and transitions

Station

States:

• IDLE – Station is empty.
• OCCUPIED – Cup detected, waiting in queue.
• IN_PROGRESS – System has started handling the order.
• READY – Liquid dispensed, cup ready for pickup.

Transitions:

stateDiagram-v2
    [*] --> IDLE
    IDLE --> OCCUPIED
    OCCUPIED --> IDLE
    OCCUPIED --> IN_PROGRESS
    IN_PROGRESS --> IDLE
    IN_PROGRESS --> READY
    READY --> IDLE

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Barman

States:

• WAITING_FOR_TASK
• MOVING
• FILLING

Transitions:

stateDiagram-v2
    [*] --> WAITING_FOR_TASK
    WAITING_FOR_TASK --> MOVING
    MOVING --> WAITING_FOR_TASK
    MOVING --> FILLING
    FILLING --> WAITING_FOR_TASK

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Pump

States:

• IDLE
• START_DELAY
• RUNNING
• STOP_DELAY

Transitions:

stateDiagram-v2
  [*] --> IDLE
  IDLE --> START_DELAY
  START_DELAY --> RUNNING
  START_DELAY --> IDLE
  RUNNING --> STOP_DELAY
  RUNNING --> IDLE
  STOP_DELAY --> IDLE

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Happy path

1. User places a cup on one of the available stations.
2. The sensor detects the cup; station state changes to OCCUPIED, LED turns SOLID_RED.
3. The system pulls the task from the queue. Station state changes to IN_PROGRESS, LED FLASHING_RED.
4. The robot moves the arm to the station's position.
5. The robot initiates the pouring sequence.
6. Station state changes to READY, LED FLASHING_GREEN.
7. User removes the cup, releasing station. Station state returns to IDLE, LED turns SOLID_GREEN.

Edge cases to manage

1. Cup removed during the filling process.
   [SOLVED]: barman calls abort() method to instantly return to idle position, turn off the pump and cancel order.

2. Liquid tank is empty.
   [IN PROGRESS]

3. Microcontroller reset during the filling process.
   [IN PROGRESS]

4. Hand placed instead of a cup.
   [SOLVED]: sensors are located from bottom of the case and only placing cup inside the station hole will trigger the process.