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WMaze_5.2.ino
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WMaze_5.2.ino
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//Pins
const int solPin1 = 7; // output to solenoid 1
const int solPin2 = 5;// output to solenoid 2
const int solPin3 = 3; //output to solenoid 3
const int ir1Pin = 6; // input from ir1
const int ir2Pin = 4; //input from ir2
const int ir3Pin = 2; //input from ir3
const int ir1MidPin = 8; //input from ir1M
const int ir2MidPin = 9; //input from ir2M
const int ir3MidPin = 10; //input from ir3M
const int power = 11;
//Solenoid
const int solDur = 300; //duration solenoid is open on reward
const int solDurFix = 400; //solenoid clogged
const char fill1Message = 'X';
const char fill2Message = 'Y';
const char fill3Message = 'Z';
const char close1Message = 'x';
const char close2Message = 'y';
const char close3Message = 'z';
//IR Sensors
boolean checking1 = false; //reset to listen to ir1
boolean checking2 = true; //reset to listen to ir2
boolean checking3 = false; //reset to listen to ir3
int trigRew = 0; //Which solenoid to trigger a reward at
int ir1Val = 0; //reads the value from ir1 pin
int ir2Val = 0; //reads the value from ir2 pin
int ir3Val = 0; //reads the value from ir3 pin
int ir1MidVal = 0; //reads the value from ir1M pin
int ir2MidVal = 0; //reads the value from ir2M pin
int ir3MidVal = 0; //reads the value from ir3M pin
int phase = 0; //Have we determined the correct pattern yet?
int next_sensor = 2; //The next sensor the rat must visit. Use to index the pattern array.
int correct_pattern[] = { 0, 0, 0, 0 }; //The current correct pattern
//Tracking Errors
int message;
const String correctPre = "c";
const String inboundPre = "i";
const String outboundPre = "o";
const String repeatPre = "r";
const String initialPre = "b";
const char loadingMessage = 'L';
int lastFeeder = 0;
boolean departedir1 = false; //Has the rat left ir1?
boolean departedir2 = false; //Has the rat left ir2?
boolean departedir3 = false; //Has the rat left ir3?
void setup()
{
Serial.begin(9600);
//Set pin direction
pinMode(solPin1, OUTPUT);
pinMode(solPin2, OUTPUT);
pinMode(solPin3, OUTPUT);
pinMode(ir1Pin, INPUT);
pinMode(ir2Pin, INPUT);
pinMode(ir3Pin, INPUT);
pinMode(ir1MidPin, INPUT);
pinMode(ir2MidPin, INPUT);
pinMode(ir3MidPin, INPUT);
pinMode(power, OUTPUT);
//Set initial pin state
digitalWrite(solPin1, LOW); //solenoid 1 pin starts low
digitalWrite(solPin2, LOW); //solenoid 2 pin starts low
digitalWrite(solPin3, LOW); //solenoid 3 pin starts low
digitalWrite(power, HIGH);
}
void loop()
{
ir1Val = digitalRead(ir1Pin); //reads the value from ir1 pin
ir2Val = digitalRead(ir2Pin); //reads the value from ir2 pin
ir3Val = digitalRead(ir3Pin); //reads the value from ir3 pin
ir1MidVal = digitalRead(ir1MidPin); //reads the value from ir1M pin
ir2MidVal = digitalRead(ir2MidPin); //reads the value from ir2M pin
ir3MidVal = digitalRead(ir3MidPin); //reads the value from ir3M pin
if(Serial.available() > 0){
message = Serial.read();
if (message == loadingMessage)
{
checking1 = false;
checking2 = true;
checking3 = false;
trigRew = 0;
ir1Val = 0;
ir2Val = 0;
ir3Val = 0;
ir1MidVal = 0;
ir2MidVal = 0;
ir3MidVal = 0;
phase = 0;
next_sensor = 2;
correct_pattern[0] = 0;
correct_pattern[1] = 0;
correct_pattern[2] = 0;
correct_pattern[3] = 0;
lastFeeder = 0;
departedir1 = false;
departedir2 = false;
departedir3 = false;
digitalWrite(solPin1, LOW); //solenoid 1 pin starts low
digitalWrite(solPin2, LOW); //solenoid 2 pin starts low
digitalWrite(solPin3, LOW); //solenoid 3 pin starts low
Serial.print("G\n");
}
if (message == fill1Message){
digitalWrite(solPin1, HIGH);
}
if (message == fill2Message){
digitalWrite(solPin2, HIGH);
}
if (message == fill3Message){
digitalWrite(solPin3, HIGH);
}
if (message == close1Message){
digitalWrite(solPin1, LOW);
}
if (message == close2Message){
digitalWrite(solPin2, LOW);
}
if (message == close3Message){
digitalWrite(solPin3, LOW);
}
}
else {
//Before correct pattern is established ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
//First Trial//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
if (phase == 0)
{
if (ir2Val == LOW && checking2)
{
checking2 = false; //igore ir2
checking1 = true; //listen to ir1
checking3 = true; //listen to ir3
trigRew = 2; //dispense reward to solenoid 2
phase = 1;
lastFeeder = 2;
}
//If the rat makes a mistake (turns around and goes to 1 or 3 first)
if (ir1Val == LOW)
{
Serial.print(initialPre + "\n");
Serial.print("1\n");
departedir1 = false;
correct_pattern[0] = 2;
correct_pattern[1] = 3;
correct_pattern[2] = 2;
correct_pattern[3] = 1;
next_sensor = 0;
phase = 2;
departedir3 = true;
lastFeeder = 1;
}
if (ir3Val == LOW)
{
Serial.print(initialPre + "\n");
Serial.print("3\n");
departedir3 = false;
correct_pattern[0] = 2;
correct_pattern[1] = 1;
correct_pattern[2] = 2;
correct_pattern[3] = 3;
next_sensor = 0;
phase = 2;
departedir1 = true;
lastFeeder = 3;
}
}
//Second Trial///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
if (phase == 1)
{
if (ir2MidVal == LOW)
{
departedir2 = true;
}
if (ir1Val == LOW && checking1)
{
checking1 = false;
checking2 = true;
checking3 = true;
trigRew = 1;
correct_pattern[0] = 2;
correct_pattern[1] = 1;
correct_pattern[2] = 2;
correct_pattern[3] = 3;
phase = 2;
lastFeeder = 1;
}
if (ir3Val == LOW && checking3)
{
checking3 = false;
checking2 = true;
checking1 = true;
trigRew = 3;
correct_pattern[0] = 2;
correct_pattern[1] = 3;
correct_pattern[2] = 2;
correct_pattern[3] = 1;
phase = 2;
lastFeeder = 3;
}
if (ir2Val == LOW && !checking2 && departedir2 == true)
{
Serial.print(repeatPre + "\n");
Serial.print("2\n");
departedir2 = false;
lastFeeder = 2;
}
}
//After Correct Pattern has been Established~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
if (phase == 2)
{
if (ir1MidVal == LOW)
{
departedir1 = true;
}
if (ir2MidVal == LOW)
{
departedir2 = true;
}
if (ir3MidVal == LOW)
{
departedir3 = true;
}
//Feeder 1///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
if (ir1Val == LOW)
{
if (correct_pattern[next_sensor] == 1)
{
if (checking1)
{
trigRew = 1; //trigger solenoid 1
checking1 = false;
checking2 = true;
checking3 = true;
departedir1 = false;
departedir2 = false;
departedir3 = false;
}
if (next_sensor == 3) next_sensor = 0;
else next_sensor++;
}
else
{
if (departedir1)
{
departedir1 = false;
checking2 = true;
correct_pattern[0] = 2;
correct_pattern[1] = 3;
correct_pattern[2] = 2;
correct_pattern[3] = 1;
next_sensor = 0;
switch (lastFeeder)
{
case 1:
Serial.print(repeatPre + "\n");
break;
case 2:
Serial.print(outboundPre + "\n");
break;
case 3:
Serial.print(inboundPre + "\n");
break;
}
Serial.print("1\n");
}
}
lastFeeder = 1;
}
//Feeder 2///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
if (ir2Val == LOW)
{
if (correct_pattern[next_sensor] == 2)
{
if (checking2)
{
checking2 = false;
checking1 = true;
checking3 = true;
trigRew = 2;
departedir1 = false;
departedir2 = false;
departedir3 = false;
}
if (next_sensor == 3)
{
next_sensor = 0;
}
else next_sensor++;
}
else
{
if (departedir2)
{
Serial.print(repeatPre + "\n");
Serial.print("2\n");
departedir2 = false;
}
}
lastFeeder = 2;
}
//Feeder 3/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
if (ir3Val == LOW)
{
if (correct_pattern[next_sensor] == 3)
{
if (checking3)
{
checking3 = false;
checking1 = true;
checking2 = true;
trigRew = 3;
departedir1 = false;
departedir2 = false;
departedir3 = false;
}
if (next_sensor == 3)
{
next_sensor = 0;
}
else next_sensor++;
}
else
{
if (departedir3)
{
departedir3 = false;
checking2 = true;
correct_pattern[0] = 2;
correct_pattern[1] = 1;
correct_pattern[2] = 2;
correct_pattern[3] = 3;
next_sensor = 0;
switch (lastFeeder)
{
case 1:
Serial.print(inboundPre + "\n");
break;
case 2:
Serial.print(outboundPre + "\n");
break;
case 3:
Serial.print(repeatPre + "\n");
break;
}
Serial.print("3\n");
}
}
lastFeeder = 3;
}
}
//Dispense Reward//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
switch (trigRew)
{
case 1: //Reward sequence for solenoid 1
digitalWrite(solPin1, HIGH);
delay(solDurFix);
digitalWrite(solPin1, LOW);
Serial.print(correctPre + "\n");
Serial.print("1\n");
break;
case 2: //Reward sequence for solenoid 2
digitalWrite(solPin2, HIGH);
delay(solDur);
digitalWrite(solPin2, LOW);
Serial.print(correctPre + "\n");
Serial.print("2\n");
break;
case 3: //Reward sequence for solenoid 3
digitalWrite(solPin3, HIGH);
delay(solDur);
digitalWrite(solPin3, LOW);
Serial.print(correctPre + "\n");
Serial.print("3\n");
break;
}
trigRew = 0;
}
}