iGEM2017

Class SyringePump

java.lang.Object

iGEM2017.SyringePump

public class SyringePump
extends java.lang.Object

Controls one syringe pump, manages its calibration, and allows for monitoring of its current status.

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
static class	SyringePump.Direction

Constructor Summary

Constructors

Constructor and Description
SyringePump(com.pi4j.io.gpio.GpioProvider provider, com.pi4j.io.gpio.Pin step, com.pi4j.io.gpio.Pin direction, com.pi4j.io.gpio.Pin enable, com.pi4j.io.gpio.Pin max, com.pi4j.io.gpio.Pin min) Create a new syringe pump controller with specified I/O pins
SyringePump(com.pi4j.io.gpio.Pin step, com.pi4j.io.gpio.Pin direction, com.pi4j.io.gpio.Pin enable, com.pi4j.io.gpio.Pin max, com.pi4j.io.gpio.Pin min) Create a new syringe pump controller with specified I/O pins using only standard Raspberry Pi GPIO pins

Method Summary

Modifier and Type	Method and Description
void	calibratePosition() Uses the end-stop switches to find the minimum and maximum positions of the stepper motor, and also determines which direction is fill and which direction is dispense.
boolean	canStep(SyringePump.Direction direction) Checks to see if the pump can take a step in the specified direction
void	dispenseVolume(double mL) Dispenses the specified volume in mL from the pump.
void	setMaxVolume() Stores the syringe volume measurement when pump is in max (full) position.
void	setMinVolume() Stores the syringe volume measurement when pump is in min (empty) position.
void	setStepDelay(int delay) Sets speed of pump by changing delay between steps
int	takeSteps(int numSteps, SyringePump.Direction direction) Takes a number of steps in the specified direction

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

SyringePump

public SyringePump(com.pi4j.io.gpio.GpioProvider provider,
                   com.pi4j.io.gpio.Pin step,
                   com.pi4j.io.gpio.Pin direction,
                   com.pi4j.io.gpio.Pin enable,
                   com.pi4j.io.gpio.Pin max,
                   com.pi4j.io.gpio.Pin min)

Create a new syringe pump controller with specified I/O pins

Parameters:

provider - Pin provider, if the pin isn't a standard RPi GPIO pin

step - Pin used to instruct pump's motor to take one step

direction - Pin used to choose the pump's direction

enable - Pin used to enable or disable the pump motor

max - Pin which indicates when the pump is at its max position

min - Pin which indicates when the pump is at its min position

SyringePump

public SyringePump(com.pi4j.io.gpio.Pin step,
                   com.pi4j.io.gpio.Pin direction,
                   com.pi4j.io.gpio.Pin enable,
                   com.pi4j.io.gpio.Pin max,
                   com.pi4j.io.gpio.Pin min)

Create a new syringe pump controller with specified I/O pins using only standard Raspberry Pi GPIO pins

Parameters:

step - Pin used to instruct pump's motor to take one step

direction - Pin used to choose the pump's direction

enable - Pin used to enable or disable the pump motor

max - Pin which indicates when the pump is at its max position

min - Pin which indicates when the pump is at its min position

Method Detail

calibratePosition

public void calibratePosition()

Uses the end-stop switches to find the minimum and maximum positions of the stepper motor, and also determines which direction is fill and which direction is dispense.

setMaxVolume

public void setMaxVolume()

Stores the syringe volume measurement when pump is in max (full) position.

setMinVolume

public void setMinVolume()

Stores the syringe volume measurement when pump is in min (empty) position.

setStepDelay

public void setStepDelay(int delay)

Sets speed of pump by changing delay between steps

Parameters:

delay - Time in ms between steps

takeSteps

public int takeSteps(int numSteps,
                     SyringePump.Direction direction)
              throws java.lang.InterruptedException

Takes a number of steps in the specified direction

Parameters:

numSteps - Number of steps to take

direction - Which direction to move the pump

Returns:

How many steps were actually taken. Will be less than steps requested if the pump hits an end-stop.

Throws:

java.lang.InterruptedException - If there is a problem when thread sleeps.

canStep

public boolean canStep(SyringePump.Direction direction)

Checks to see if the pump can take a step in the specified direction

Parameters:

direction - Which direction to check

Returns:

TRUE if and only if the pump can take a step in that direction

dispenseVolume

public void dispenseVolume(double mL)

Dispenses the specified volume in mL from the pump. Note that if the pump isn't calibrated completely, this will do nothing. If the pump needs to refill in order to fulfill the requested volume, it will.

Parameters:

mL - Volume in milliliters to dispense