For our dear Husbands

video for our prototype

ml1949 — Sat, 22 Dec 2007 15:01:11 +0000

final working code :D

ml1949 — Wed, 12 Dec 2007 08:00:20 +0000

// Variables for calculating PERIOD and SEX pointers //float speedPointer();

int encoder[108]; //PROGMEM prog_uchar encoder[106]; //prog_uchar encoder[106] PROGMEM; //unsigned char lastEncoder0Pos; int displayRead; int lastEncoder0Pos; unsigned char encoder0Pos; int steps;

int timePeriod=60;
int passedDays=15;
int cycleCount;
int gear20=18;
int gear24=96;
int delayRate;
int pointerPos=0;
//int sexPoint=0;
//int reading[107];
int initialSteps;
int delayMillis;
int savedMillis;
int ellapsedMillis;
int displayEncoder;
//int lastEncoder0Pos;
int lastChange;

//Variables for communicating to Processing
int firstByte; // value for Period
int secondByte; // value for Initial Date
int serialInArray[3]; // array for storing 3 bytes as they arrive from processing
int serialCount = 0; // for counting the number of bytes received

// ENCODER Variables
#define encoder0PinA 2
#define encoder0PinB 3
//volatile int encoder0Pos = 0;

// Stepper Motor Variables
int counter=0;
#include
//Motor Steps for Motor 1
#define motor1Steps 24 // change this depending on the number of steps
// Steps fo motor 2
#define motor2Steps 20 // per revolution of your motor
// Pins 4 to 7 for Motor 1
#define motorPin1 8
#define motorPin2 9
#define motorPin3 10
#define motorPin4 11
//Pins 8-11 for Motor 2
#define motorPin5 4
#define motorPin6 5
#define motorPin7 6
#define motorPin8 7
// initialize of the Stepper library:
Stepper myStepper(motor1Steps, motorPin1,motorPin2,motorPin3,motorPin4);
Stepper myStepper2(motor2Steps,motorPin5,motorPin6,motorPin7,motorPin8);

void setup() {
// set the motor speed at 60 RPMS:
myStepper.setSpeed(10);
myStepper2.setSpeed(60);

// Initialize the Serial port:
Serial.begin(9600);
// myStepper.step(10);

//SETUP FOR ENCODER
pinMode(encoder0PinA, INPUT);
digitalWrite(encoder0PinA, HIGH); // turn on pullup resistor
pinMode(encoder0PinB, INPUT);
digitalWrite(encoder0PinB, HIGH); // turn on pullup resistor
attachInterrupt(0, doEncoder, CHANGE); // encoder pin on interrupt 0 - pin 2
Serial.begin (9600);
Serial.println(”start”); // a personal quirk
savedMillis=millis();
initialSteps=-106.67*passedDays/timePeriod;
delayMillis=9.375*timePeriod;
myStepper2.step(int(initialSteps));
Serial.println(initialSteps);
}

void loop() {

/*
if (Serial.available() > 0) {
// read the most recent byte (which will be from 0 to 255)
if(Serial.read()==65){
timePeriod = Serial.read();
passedDays = Serial.read();
}
}
*/
/*
serialInArray[serialCount] = Serial.read(); // read a byte sent by processing
serialCount++; // increment number of bytes received
if (serialCount > 2 ) { // when 3 bytes received
firstByte = serialInArray[1]; // get value for PERIOD
secondByte = serialInArray[2]; // get value for INITIAL DATE
serialCount = 0;
}
*/

// delayMillis=0;
// Serial.println(delayMillis);

ellapsedMillis=millis()-savedMillis;
// Serial.println(ellapsedMillis);
if(ellapsedMillis>=delayMillis){
// save the reading
encoder[pointerPos]=encoder0Pos;
Serial.println(”writingwhenmillis-lastChange>=delayMillis”);
Serial.println(pointerPos);
Serial.println(encoder0Pos, DEC);
//Serial.println(ellapsedMillis);
myStepper2.step(-1);
savedMillis=millis();
pointerPos+=1;
// lastChange = millis();
// if (encoder[pointerPos]>0) {
if(cycleCount>0){
Serial.println(”encoder[pointerPos]”);
Serial.println(encoder[pointerPos],DEC);
Serial.println(encoder0Pos, DEC);

steps=int(0.375*encoder[pointerPos]-0.375*encoder0Pos);
Serial.println(steps);
myStepper.step(steps);
}
/*
// if (millis() - lastChange >= delayMillis*0.8) {
if (millis() - savedMillis >= delayMillis*0.8) {
// save the reading
encoder[pointerPos]=encoder0Pos;
Serial.println(”writingwhenmillis-lastChange>=delayMillis”);
Serial.println(pointerPos);
Serial.println(encoder0Pos, DEC);
//prog_uchar encoder[pointerPos]=lastEncoder0Pos;
}
}
*/
if (pointerPos == 106){
cycleCount+=1;
pointerPos=0;
if (cycleCount==3){
myStepper2.step(3);
}
Serial.println(”cycleCount”);
}
}

}

void doEncoder(){
if (digitalRead(encoder0PinA) == HIGH) { // found a low-to-high on channel A
if (digitalRead(encoder0PinB) == LOW) { // check channel B to see which way
// encoder is turning
encoder0Pos = encoder0Pos - 1; // CCW
}
else {
encoder0Pos = encoder0Pos + 1; // CW
}
}
else // found a high-to-low on channel A
{
if (digitalRead(encoder0PinB) == LOW) { // check channel B to see which way
// encoder is turning
encoder0Pos = encoder0Pos + 1; // CW
}
else {
encoder0Pos = encoder0Pos - 1; // CCW
}
}

if(encoder0Pos>64){
encoder0Pos=1;
}
if(encoder0Pos<1){
encoder0Pos=64;
}
// Serial.println (encoder0Pos, DEC); // debug - remember to comment out
}

documentation photos

ml1949 — Mon, 10 Dec 2007 22:55:50 +0000

1, getting motors from a typewriter. that’s where our motors come.

2, wiring the 2 stepper motors. Both of them areunipolar.

The unipolar stepper motor has five or six wires and four coils (actually two coils divided by center connections on each coil). The center connections of the coils are tied together and used as the power connection. They are called unipolar steppers because power always comes in on this one pole. (source: http://www.tigoe.net/pcomp/code/category/code/arduinowiring/51 )

3, connecting the encoder

http://www.nubotics.com/support/index.html

4, soldering onto little piece of perfboard to make the plug-in modula on arduino

5, test the encoder, and we got accurate readings: every rotation of the steppers, the encoder increments “62″

6, first version of housing gears, motors and encoder.

6, final version of housing

7, standing up (here is the tricky thing.the gravity made the gears works a little bit different, when moving towards up, like 9 o clock, the pointer stepping may loose steps, so we did re-housing, making it more secure and stable, and checking motors again)

8, spray the face and mount onto the clock.

http://flickr.com/photos/beyondmeng/tags/final/

code dec 9th

ml1949 — Mon, 10 Dec 2007 14:39:51 +0000

// Variables for calculating PERIOD and SEX pointers
//float speedPointer();
//#include
int encoder[108];
//PROGMEM prog_uchar encoder[106];
//prog_uchar encoder[106] PROGMEM;
//unsigned char lastEncoder0Pos;
int displayRead;
int lastEncoder0Pos;
unsigned char encoder0Pos;
int steps;

int timePeriod=120;
int passedDays=15;
int cycleCount;
int gear20=18;
int gear24=96;
int delayRate;
int pointerPos=0;
//int sexPoint=0;
//int reading[107];
int initialSteps;
int delayMillis;
int savedMillis;
int ellapsedMillis;
int displayEncoder;
//int lastEncoder0Pos;
int lastChange;

// ENCODER Variables
#define encoder0PinA 2
#define encoder0PinB 3
//volatile int encoder0Pos = 0;

void setup() {
// set the motor speed at 60 RPMS:
myStepper.setSpeed(10);
myStepper2.setSpeed(60);

// Initialize the Serial port:
Serial.begin(9600);
// myStepper.step(10);

//SETUP FOR ENCODER
pinMode(encoder0PinA, INPUT);
digitalWrite(encoder0PinA, HIGH);       // turn on pullup resistor
pinMode(encoder0PinB, INPUT);
digitalWrite(encoder0PinB, HIGH);       // turn on pullup resistor
attachInterrupt(0, doEncoder, CHANGE); // encoder pin on interrupt 0 - pin 2
Serial.begin (9600);
Serial.println(”start”);                // a personal quirk
savedMillis=millis();
initialSteps=-106.67*passedDays/timePeriod;
delayMillis=9.375*timePeriod;
myStepper2.step(int(initialSteps));

Serial.println(initialSteps);
}

void loop() {
lastChange = millis();

// delayMillis=0;
// Serial.println(delayMillis);

//+” “+delayMillis+” “+savedMillis);

ellapsedMillis=millis()-savedMillis;
if(ellapsedMillis>=delayMillis){
// Serial.println(ellapsedMillis);
myStepper2.step(-1);
savedMillis=millis();
pointerPos+=1;
// if(pointerPos==30){
// Serial.println(”pointerPos”);
// Serial.println(pointerPos);
// }

//encoder[pointerPos]=encoder0Pos;
//encoder0Pos=lastEncoder0Pos;
//Serial.println(pointerPos);
// displayEncoder = pgm_read_byte_near(lastEncoder0Pos);
// Serial.println(displayEncoder);

///////// STEPPER1.STEP()

// lastEncoder0Pos = encoder0Pos;
// note the last time the encoder changed:

//lastEncoder0Pos=encoder[pointerPos];
//   if (encoder0Pos != encoder[pointerPos] && encoder[pointerPos]>0) {
if (encoder[pointerPos]>0) {
// save the last change in the encoder:
// if(pointerPos<30){
Serial.println(”encoder[pointerPos]” );
Serial.println(encoder[pointerPos]);
// }
//   Serial.println(”encoder0Pos”);
//   Serial.println(encoder0Pos, DEC);
//   Serial.println(”lastEncoder0Pos”);
//   Serial.println(lastEncoder0Pos);

steps=int(.375*(-encoder0Pos+encoder[pointerPos]));
Serial.println(steps);
myStepper.step(steps);
}
/*
if(encoder0Pos>lastEncoder0Pos){
steps=int(.375*(64-encoder0Pos+lastEncoder0Pos));
Serial.println(”steps1″);
Serial.println(steps);
// Serial.println(.375*(64-encoder0Pos+encoder[pointerPos]));
}else{
steps=int(.375*(lastEncoder0Pos-encoder0Pos));
Serial.println(”steps2″);
Serial.println(steps);
// Serial.println(((encoder[pointerPos]-encoder0Pos));
}

}
*/
if (millis() - lastChange >= delayMillis*0.8) {
// if (millis() - lastChange >= 1000) {
// save the reading
encoder[pointerPos]=encoder0Pos;
// Serial.println(”writingingto”);
// Serial.println(lastEncoder0Pos);
//prog_uchar encoder[pointerPos]=lastEncoder0Pos;
}
}

if (pointerPos == 106){
cycleCount+=1;
pointerPos=0;
if (cycleCount==3){
myStepper2.step(3);
}
Serial.println(”cycleCount”);
}

/*
for (int i=0; i encoder[i]=displayRead;
Serial.println(displayRead);
if (displayRead>1 && i==pointerPos){
if (displayRead != encoder0Pos)
myStepper.step(1);
}
}
*/

/*
for( int i=0; i encoder[i]=lastEncoder0Pos;
if (lastEncoder0Pos >0){
if (encoder0Pos != lastEncoder0Pos)
{
myStepper.step(1);
}

}
}

*/
}

void doEncoder(){
if (digitalRead(encoder0PinA) == HIGH) {   // found a low-to-high on channel A
if (digitalRead(encoder0PinB) == LOW) { // check channel B to see which way
// encoder is turning
encoder0Pos = encoder0Pos - 1;         // CCW
}
else {
encoder0Pos = encoder0Pos + 1;         // CW
}
}
else                                        // found a high-to-low on channel A
{
if (digitalRead(encoder0PinB) == LOW) {   // check channel B to see which way
// encoder is turning
encoder0Pos = encoder0Pos + 1;          // CW
}
else {
encoder0Pos = encoder0Pos - 1;          // CCW
}
}

if(encoder0Pos>64){
encoder0Pos=1;
}
if(encoder0Pos<1){
encoder0Pos=64;
}
// Serial.println (encoder0Pos, DEC); // debug - remember to comment out
}

code (final) dec 8th

ml1949 — Sun, 09 Dec 2007 05:04:23 +0000

// Variables for calculating PERIOD and SEX pointers //float speedPointer(); //#include int encoder[106]; //PROGMEM prog_uchar encoder[106]; //prog_uchar encoder[106] PROGMEM; unsigned char lastEncoder0Pos; int displayRead;


unsigned char encoder0Pos;

int timePeriod=60;

int passedDays=15;

int cycleCount;

int gear20=18;

int gear24=96;

int delayRate;

int pointerPos=0;

//int sexPoint=0;

//int reading[107];

int initialSteps;

int delayMillis;

int savedMillis;

int ellapsedMillis;

int displayEncoder;

//int lastEncoder0Pos;

int lastChange;
//Variables for communicating to Processing

int firstByte; // value for Period

int secondByte; // value for Initial Date

int serialInArray[3]; // array for storing 3 bytes as they arrive from processing

int serialCount = 0; // for counting the number of bytes received
// ENCODER Variables

#define encoder0PinA  2

#define encoder0PinB  3

//volatile int encoder0Pos = 0;
// Stepper Motor Variables

int counter=0;

#include 

//Motor Steps for Motor 1

#define motor1Steps 24     // change this depending on the number of steps

// Steps fo motor 2

#define motor2Steps 20                         // per revolution of your motor

// Pins 4 to 7 for Motor 1

#define motorPin1 4

#define motorPin2 5

#define motorPin3 6

#define motorPin4 7

//Pins 8-11 for Motor 2

#define motorPin5 8

#define motorPin6 9

#define motorPin7 10

#define motorPin8 11

// initialize of the Stepper library:

Stepper myStepper(motor1Steps, motorPin1,motorPin2,motorPin3,motorPin4);

Stepper myStepper2(motor2Steps,motorPin5,motorPin6,motorPin7,motorPin8);
void setup() {

// set the motor speed at 60 RPMS:

myStepper.setSpeed(10);

myStepper2.setSpeed(60);
// Initialize the Serial port:

Serial.begin(9600);
//SETUP FOR ENCODER

pinMode(encoder0PinA, INPUT);

digitalWrite(encoder0PinA, HIGH);       // turn on pullup resistor

pinMode(encoder0PinB, INPUT);

digitalWrite(encoder0PinB, HIGH);       // turn on pullup resistor

attachInterrupt(0, doEncoder, CHANGE);  // encoder pin on interrupt 0 - pin 2

Serial.begin (9600);

Serial.println("start");                // a personal quirk

savedMillis=millis();

initialSteps=106.67*passedDays/timePeriod;

myStepper2.step(int(initialSteps));
Serial.println(initialSteps);

}
void loop() {
/*

if (Serial.available() > 0) {

// read the most recent byte (which will be from 0 to 255)

if(Serial.read()==65){

timePeriod = Serial.read();

passedDays = Serial.read();

}

}

*/

/*

serialInArray[serialCount] = Serial.read(); // read a byte sent by processing

serialCount++;  // increment number of bytes received

if (serialCount > 2 ) {  // when 3 bytes received

firstByte = serialInArray[1]; // get value for PERIOD

secondByte = serialInArray[2]; // get value for INITIAL DATE

serialCount = 0;

}

*/

//delayMillis=1000*gear20*timePeriod/(gear24*motor2Steps);

delayMillis=9.375*timePeriod;

// delayMillis=0;

// Serial.println(delayMillis);
//+" "+delayMillis+" "+savedMillis);
ellapsedMillis=millis()-savedMillis;

if(ellapsedMillis>=delayMillis){

// Serial.println(ellapsedMillis);

myStepper2.step(1);

savedMillis=millis();

pointerPos+=1;
//encoder[pointerPos]=encoder0Pos;

//encoder0Pos=lastEncoder0Pos;

Serial.println(pointerPos);

// displayEncoder = pgm_read_byte_near(lastEncoder0Pos);

// Serial.println(displayEncoder);
///////// STEPPER1.STEP()
// getPeriod(savedMillis);
}

if (pointerPos == 106){

cycleCount+=1;

pointerPos=0;

if (cycleCount==3){

myStepper2.step(3);

}

Serial.println("cycleCount");

}

// Serial.println(cycleCount);
for (int i=0; i
encoder[i]=displayRead;

Serial.println(displayRead);

if (displayRead>1 && i==pointerPos){

if (displayRead != encoder0Pos)

myStepper.step(1);

}

}

}
void doEncoder(){

encoder[pointerPos]=encoder0Pos;

if (digitalRead(encoder0PinA) == HIGH) {   // found a low-to-high on channel A

if (digitalRead(encoder0PinB) == LOW) {  // check channel B to see which way

// encoder is turning

encoder0Pos = encoder0Pos - 1;         // CCW

}

else {

encoder0Pos = encoder0Pos + 1;         // CW

}

}

else                                        // found a high-to-low on channel A

{

if (digitalRead(encoder0PinB) == LOW) {   // check channel B to see which way

// encoder is turning

encoder0Pos = encoder0Pos + 1;          // CW

}

else {

encoder0Pos = encoder0Pos - 1;          // CCW

}

}
if(encoder0Pos>64){

encoder0Pos=1;

}

if(encoder0Pos<1){

encoder0Pos=64;

}
/*

if (encoder0Pos != lastEncoder0Pos) {

// save the last change in the encoder:

lastEncoder0Pos = encoder0Pos;

// note the last time the encoder changed:

lastChange = millis();

}
if (millis() - lastChange >= 1) {

// save the reading

encoder[pointerPos]=encoder0Pos;

// Serial.println(lastEncoder0Pos);

//prog_uchar encoder[pointerPos]=lastEncoder0Pos;

}
*/
// Serial.println (encoder0Pos, DEC);          // debug - remember to comment out

// before final program run }

clock face for print

ml1949 — Fri, 07 Dec 2007 19:26:01 +0000

http://itp.nyu.edu/~ml1949/Untitled-12moon%20copy.png

http://itp.nyu.edu/~ml1949/Untitled-1moon%20copy.png

http://itp.nyu.edu/~ml1949/Untitled-13moon%20copy.png

code

sid213 — Fri, 07 Dec 2007 01:35:45 +0000

http://itp.nyu.edu/~sid213/pcom/code.zip

Arduino Code by Dec. 5

sid213 — Thu, 06 Dec 2007 01:04:58 +0000

// Variables for calculating PERIOD and SEX pointers float speedPointer(); int gear20=18; int gear24=96; int delayRate; int pointerPos=0; int sexPoint=0; int reading[107]; int initialSteps;


//Variables for communicating to Processing

int firstByte; // value for Period

int secondByte; // value for Initial Date

int serialInArray[3]; // array for storing 3 bytes as they arrive from processing

int serialCount = 0; // for counting the number of bytes received
// ENCODER Variables

#define encoder0PinA  2

#define encoder0PinB  3

volatile int encoder0Pos = 0;
// Stepper Motor Variables

int counter=0;

#include

//Motor Steps for Motor 1

#define motor1Steps 24     // change this depending on the number of steps

// Steps fo motor 2

#define motor2Steps 20                         // per revolution of your motor

// Pins 4 to 7 for Motor 1

#define motorPin1 4

#define motorPin2 5

#define motorPin3 6

#define motorPin4 7

//Pins 8-11 for Motor 2

#define motorPin5 8

#define motorPin6 9

#define motorPin7 10

#define motorPin8 11

// initialize of the Stepper library:

Stepper myStepper(motor1Steps, motorPin1,motorPin2,motorPin3,motorPin4);

Stepper myStepper2(motor2Steps,motorPin5,motorPin6,motorPin7,motorPin8);
void setup() {

// set the motor speed at 60 RPMS:

myStepper.setSpeed(10);

myStepper2.setSpeed(60);
// Initialize the Serial port:

Serial.begin(9600);
//SETUP FOR ENCODER

pinMode(encoder0PinA, INPUT);

digitalWrite(encoder0PinA, HIGH);       // turn on pullup resistor

pinMode(encoder0PinB, INPUT);

digitalWrite(encoder0PinB, HIGH);       // turn on pullup resistor

attachInterrupt(0, doEncoder, CHANGE);  // encoder pin on interrupt 0 - pin 2

Serial.begin (9600);

Serial.println("start");                // a personal quirk

}
void loop() {

if (Serial.available() > 0) {
serialInArray[serialCount] = Serial.read(); // read a byte sent by processing

serialCount++;  // increment number of bytes received

if (serialCount > 2 ) {  // when 3 bytes received

firstByte = serialInArray[1]; // get value for PERIOD

secondByte = serialInArray[2]; // get value for INITIAL DATE

serialCount = 0;

}

}

delayRate=24*60*60*1000*gear20*firstByte/gear24/motor2Steps;

}
void getPeriod(){

int cycleCount;

delay(delayRate);

myStepper2.step(1);

pointerPos+=1

if (pointerPos == 106){

cycleCount+=1;

pointerPos=0

if (cycleCount==3){

myStepper2.step(3);

}

}

}
void setInitialPosforPeriodPointer(int timePeriod, int passedDays){

intialSteps[equal tongue]assedDays*gear24*motor2Steps/timePeriod/gear20;

myStepper2.step(initialSteps);

}

void getRead(){ if (digitalRead(encoder0PinA) == HIGH) { // found a low-to-high on channel A for (int i=0, i1 && i=PointerPos){ if (displayRead != enconder0Pos) myStepper2.step(1); } } }

arduino code

sid213 — Tue, 04 Dec 2007 15:53:07 +0000

/* Stepper Motor Controller language: Wiring/Arduino


 This program drives a unipolar or bipolar stepper motor.

 The motor is attached to digital pins 8 and 9 of the Arduino.
 The motor moves 100 steps in one direction, then 100 in the other.
 Created 11 Mar. 2007

 Modified 7 Apr. 2007

 by Tom Igoe
 */
// define the pins that the motor is attached to. You can use

// any digital I/O pins.

int inByte = 0;

#include 
#define motorSteps 48     // change this depending on the number of steps

                           // per revolution of your motor

#define motorPin1 8

#define motorPin2 9

#define motorPin3 10

#define motorPin4 11

#define ledPin 13
// initialize of the Stepper library:

Stepper myStepper(motorSteps, motorPin1,motorPin2,motorPin3,motorPin4); 
void setup() {

  // set the motor speed at 60 RPMS:

myStepper.setSpeed(120);
  // Initialize the Serial port:

  Serial.begin(9600);
  // set up the LED pin:

}
void loop() {

  // Step forward 100 steps:

    if (Serial.available() > 0) {

    // get incoming byte:

  inByte = Serial.read();

 // Serial.println("Forward");

//  Serial.print(BYTE);
}

 myStepper.step(inByte);

  delay(500);

}
/*

 Stepper Motor Controller

 language: Wiring/Arduino
 This program drives a unipolar or bipolar stepper motor.

 The motor is attached to digital pins 8 and 9 of the Arduino.
 The motor moves 100 steps in one direction, then 100 in the other.
 Created 11 Mar. 2007

 Modified 7 Apr. 2007

 by Tom Igoe
 */
// define the pins that the motor is attached to. You can use

// any digital I/O pins.
#include 
#define motorSteps 200     // change this depending on the number of steps

                           // per revolution of your motor

#define motorPin1 8

#define motorPin2 9

#define ledPin 13
// initialize of the Stepper library:

Stepper myStepper(motorSteps, motorPin1,motorPin2); 
void setup() {

  // set the motor speed at 60 RPMS:

  myStepper.setSpeed(60);
  // Initialize the Serial port:

  Serial.begin(9600);
  // set up the LED pin:

  pinMode(ledPin, OUTPUT);

  // blink the LED:

  blink(3);

}
}

clock

sid213 — Tue, 04 Dec 2007 15:51:16 +0000

clock code