Published December 20, 2019

Toothpaste Dispenser

A toothpaste dispenser using Texas Instruments MSP430-EXP430G2 MSP430 LaunchPad, 2 IR sensors, and a RC servo.

IntermediateShowcase (no instructions)755

Things used in this project

Hardware components

Texas Instruments MSP-EXP430G2 MSP430 LaunchPad

Texas Instruments MSP430 Microcontroller

Proximity Sensor

Hitec Hs-755HB

FC-51 Infrared Proximity Sensor

Software apps and online services

Texas Instruments Code Composer Studio

Story

Although tooth decay and tooth loss have been declining in recent decades, more than nine of 10 working-age Americans have cavities in permanent teeth. “Among adults aged 20-64, 91 percent had caries and 27 percent had untreated tooth decay, ” conclude the authors of a data brief from the National Center for Health Statistics[1].

Our goal is to develop a companion machine for your tooth’s well-being. This automated machine advises users to brush their teeth. Moreover, the machine recognizes toothbrush and squeezes adequate amount from preloaded toothpaste.

The proximity sensor (model GP2Y0A21YK0F) detects the presence of a person when near and the other proximity sensor (FC-51) detects whether a brush is positioned under the dispenser. The RC servo (Hitec Hs-755HB) squeezes the dispenser. All sensors and the motor are communicating and controlled under MSP430F2272 16-bit microcontroller. To operate the machine appropriately in various situations, a state machine is developed, and the switching condition is triggered based on proximity sensor signals.

State Machine Schematic

Followings are this machine’s features and required hardware to realize corresponding functions.

Situation 1.

If a person comes to the machine, GP2Y0A21YK0F proximity sensor detects the person, and a white LED blinks to inform that the sensor detects the person. When the person stands in front of the machine more than 5 seconds, then a red LED blinks to guide the person to bring a toothbrush under the dispenser. If the toothbrush is positioned properly, a blue LED is turned on. After 3 seconds, the dispenser squeezes toothpaste on the brush. Next, a yellow LED blinks during the recommended brushing time, and it turns stationary yellow LED to guide a gargle time.

Situation 2.

If a person stands in front of the machine, but not for brushing teeth, (such as just for washing hands), the state machine is looped between first two states. Therefore, the dispenser does not squeeze toothpaste.

Situation 3.

If a toothbrush is not positioned properly under the dispenser, then the dispenser does not squeeze toothpaste until the person properly positions the brush again.

[1]https://www.cdc.gov/nchs/data/databriefs/db197.pdf

Schematics

Code

ToothpasteDispenser_operatingCode

/******************************************************************************
MSP430F2272 Project Creator 4.0

ME 461 - S. R. Platt
Fall 2010

Updated for CCSv4.2 Rick Rekoske 8/10/2011

Written by: Steve Keres
College of Engineering Control Systems Lab
University of Illinois at Urbana-Champaign
*******************************************************************************/

#include "msp430x22x2.h"
#include "UART.h"

// ServoMotor COntrol
#define SERVO_LOW   2000
#define SERVO_HIGH  4500
#define SERVO_INCR  100
int servo_trig1 = 0;
int servo_trig2 = 0;

// Brushing Parameters
#define T_BRUSHING  3000
#define T_GARGLLING 3000
#define T_HOLD1     50
#define T_HOLD2     50
#define T_HOLD_FINISH     200
#define THRS_DIST   100

//MSP430 Operation Counter / flags
char readings = 0;
char newprint = 0;
unsigned int timecnt = 0;
unsigned int fastcnt = 0;
char sw_state = 0;
char ledcnt =0;
int pwmH = 0;
char print_state(void);
int incr = SERVO_INCR;
int adccnt = 0;

//Communication
int RXData[8] = {0,0,0,0,0,0,0,0};
int TXData[8] = {0,0,0,0,0,0,0,0};
long rx1 = 0;
long rx2 = 0;
char rxcnt = 0;
char txcnt = 0;
int readADC=0;

int state = 1;
unsigned long fastcnt_01 = 0;
int tCount1 = 0;
int tCount2 = 0;
int irDist = 0;

char flagSQZ = 0;
char flagBrush = 0;
char flagDisp = 0;  // {1,2,3,4,5} message to Orange Pi

void main(void) {
    WDTCTL = WDTPW + WDTHOLD; // Stop WDT
    if (CALBC1_16MHZ ==0xFF || CALDCO_16MHZ == 0xFF) while(1);

    DCOCTL  = CALDCO_16MHZ; // Set uC to run at approximately 16 Mhz
    BCSCTL1 = CALBC1_16MHZ;

    //P1IN          Port 1 register used to read Port 1 pins setup as Inputs // LED code
    P1SEL &= ~0xFF; // Set all Port 1 pins to Port I/O function
    P1SEL |= 0x04;
    P1DIR |=0x04;
    P1REN &= ~0xFF; // Disable internal resistor for all Port 1 pins

    //P2 (using 4567, 45 pullup, 67 pulldown)
    P2SEL &= ~0xFF; // all zeros for GPIO
    P2IE  |= 0xF0; //set 1111 0000
    P2DIR &= ~0xF0; // 0000 1111 (LOW: input)
    P2REN |= 0xF0; // 1111 0000 (HIGH: Enable)
    P2OUT &= ~0xFF;// 1100 0000 (HIGH: Pull up)
    P2OUT |= 0xC0; // 1100 0000 (HIGH: Pull up)
    P2IES |= 0xC0; // 1: rising 0: falling  / 45 pins are pull down
    P2IFG &= ~0xFF;

    //P3 settings
    P3SEL |= 0x06;
    UCB0CTL1 = UCSWRST + UCSSEL_2;
    UCB0CTL0 = UCMODE_3 + UCSYNC;
    UCB0I2COA = 0x25;
    UCB0CTL1 &= ~UCSWRST;
    IE2 |= UCB0RXIE;
    IFG2 &= ~0xFF;

    //P4 config.
    P4SEL &= ~0xFF; // Set all Port 1 pins to Port I/O function
    P4SEL |= 0x10;
    P4DIR |= 0x10;
    P4REN &= ~0xFF; // Disable internal resistor for all Port 1 pins

    // Timer A Config
    TACCTL0 = CCIE;              // Enable Timer A interrupt
    TACCR0  = 32000;             // period = 2ms
    TACTL   = TASSEL_2 + MC_1;   // source SMCLK, up mode

    // Timer B Config
    TBCCTL0 = 0;                //
    TBCCTL1 = OUTMOD_7+CLLD_1;  //
    TBCCR0  = 16000;             // period = 1ms
    TBCCR1  = SERVO_HIGH;
    TBCTL   = TBSSEL_2 + ID_3 + MC_1 ;   // source SMCLK, up mode

    // ADC
    ADC10CTL1 = INCH_1 + ADC10SSEL_0 ;
    ADC10CTL0 = ADC10SHT_2 + SREF_0 + ADC10ON + ADC10IE;
    ADC10AE0 = 0x1;

    Init_UART(115200, 1);   // Initialize UART for 9600 baud serial communication

    _BIS_SR(GIE);       // Enable global interrupt

    while(1) {
        if (newprint==1)  {
            UART_printf("%d \t %d \t %d \t %d \t %d\n\r", state, flagBrush, readADC, tCount1, tCount2);
            newprint = 0;
        }
    }
}

// Timer A0 interrupt service routine
#pragma vector=TIMERA0_VECTOR
__interrupt void Timer_A (void)
{
    ADC10CTL0 |= ADC10SC + ENC;
    irDist = ADC10MEM;
    flagBrush = ((~P2IN & 0x10)>>4);
    fastcnt++;
    if (fastcnt == 50) { //every 0.1s
        newprint = 1;
        fastcnt = 0;

        if ((state ==1 ) && (irDist < THRS_DIST)) { //object is far away
            flagDisp = 1; //"IDLE"
            tCount1 = 0;
        }
        else if ((state ==1 ) && (irDist >= THRS_DIST)) { //object is close
            flagDisp = 1; //"Welcome"
            tCount1++;
            if (tCount1 > T_HOLD1) {
                tCount1 = 0;
                state = 2;
                flagDisp = 2; // "It is time to brush your teeth, place your toothbrush under the dispenser"
            }
        }
        else if ((state == 2) && (flagBrush == 0)) {
            flagDisp = 2;
            tCount2 = 0;
        }
        else if ((state == 2) && (flagBrush == 1)) {
            flagDisp = 3; // "Recognizing your toothbrush"
            tCount2++;
            if(tCount2 > T_HOLD2) {   
                //servo motor control
                TBCCR1 += incr;
                if (TBCCR1 >= SERVO_HIGH && servo_trig1 == 0 && servo_trig2 == 0){
                    incr = -SERVO_INCR;
	       servo_trig1 = 1;
                }
	   if (TBCCR1 <= SERVO_LOW && servo_trig1 == 1) {
                        tCount2 = 0;
                        state = 3;
                        flagSQZ = 1;
	           servo_trig1 = 0;  
		flagDisp = 4; // "Start toothbrushing. If you don't, you will lose your research funding"
                }
                if (TBCCR1 <= SERVO_LOW && servo_trig2 == 0 && servo_trig1 == 0) {
                    incr = SERVO_INCR;
	       servo_trig2 = 1;
                }
	   if (TBCCR1 >= SERVO_HIGH && servo_trig2 == 1) {
                        tCount2 = 0;
                        state = 3;
                        flagSQZ = 1;
	           servo_trig2 = 0;
		flagDisp = 4; // "Start toothbrushing. If you don't, you will lose your research funding"
                }
            }
        }
        else if (state == 3) {
	tCount2++;
	if (tCount2 > T_BRUSHING) {
            flagDisp = 5; // "Now, gargle your mouth"
            state = 4;
            tCount2 = 0;
	}
        }
        else if (state == 4) {
	tCount2++;
            if (tCount2 > T_GARGLLING) {
	flagDisp = 6; //"FInished"
	tCount2 = 0;
            // delay(T_HOLD_FINISH);
            state = 1;
	}
        }
    }
}

// ADC 10 ISR - Called when a sequence of conversions (A7-A0) have completed
#pragma vector=ADC10_VECTOR
__interrupt void ADC10_ISR(void) {
    readADC = ((int)ADC10MEM);
}


// USCI Receive ISR - Called when shift register has been transferred to RXBUF
// Indicates completion of TX/RX operation
#pragma vector=USCIAB0TX_VECTOR
__interrupt void USCI0TX_ISR(void) {

    if((IFG2&UCA0TXIFG) && (IE2&UCA0TXIE)) {        // USCI_A0 requested TX interrupt
        if(printf_flag) {
            if (currentindex == txcount) {
                senddone = 1;
                printf_flag = 0;
                IFG2 &= ~UCA0TXIFG;
            } else {
                UCA0TXBUF = printbuff[currentindex];
                currentindex++;
            }
        } else if(UART_flag) {
            if(!donesending) {
                UCA0TXBUF = txbuff[txindex];
                if(txbuff[txindex] == 255) {
                    donesending = 1;
                    txindex = 0;
                } else {
                    txindex++;
                }
            }
        }
        IFG2 &= ~UCA0TXIFG;
    }

    if((IFG2&UCB0RXIFG) && (IE2&UCB0RXIE)) {    // USCI_B0 RX interrupt occurs here for I2C
        RXData[rxcnt] = UCB0RXBUF;
        rxcnt++;

        if (rxcnt > 7){
            TXData[0] = (unsigned char)(state); //msb
            TXData[1] = (unsigned char)(flagDisp);
            TXData[2] = (unsigned char)(flagBrush);
            TXData[3] = (unsigned char)(readADC);  //lsb

            TXData[4] = (unsigned char)(0); //msb
            TXData[5] = (unsigned char)(0);
            TXData[6] = (unsigned char)(0);
            TXData[7] = (unsigned char)(0);  //lsb

            rxcnt = 0;
            P1OUT ^= 0x01;
            //newprint = 1;
            // rx1 = pixel cnt, rx2 = centroid column
            rx1 = (RXData[0]) + ((long)RXData[1] << 8) + ((long)RXData[2] << 16) + ((long)RXData[3] << 24);
            rx2 = (RXData[4]) + ((long)RXData[5] << 8) + ((long)RXData[6] << 16) + ((long)RXData[7] << 24);

            // TBCCR1 = rx1;
            IE2 &= ~UCB0RXIE;
            IE2 |= UCB0TXIE;
        }
    } else if ((IFG2&UCB0TXIFG) && (IE2&UCB0TXIE)) { // USCI_B0 TX interrupt
        // put your TX code here.
        UCB0TXBUF=  TXData[txcnt];
        txcnt++;
        if (txcnt >7){
            txcnt = 0;
            P1OUT ^= 0x02;
            IE2 &= ~UCB0TXIE;
            IE2 |= UCB0RXIE;
        }
    }
}

#pragma vector=PORT2_VECTOR
__interrupt void Port_2(void)
{
    if ((P2IFG & 0x10) == 0x10){
        flagBrush = 1;
        P2IFG &= ~0x10;
    }
    if ((P2IFG & 0x20) == 0x20){
        P2IFG &= ~0x20;
    }
    if ((P2IFG & 0x40) == 0x40){
        P2IFG &= ~0x40;
    }
    if ((P2IFG & 0x80) == 0x80){
        P2IFG &= ~0x80;
    }

}

Credits

Jaejun Park

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