https://howtomechatronics.

com/projects/diy-vending-machine-arduino-based-
mechatronics-project/

#include <LiquidCrystal.h> // includes the LiquidCrystal Library

#include <Servo.h>
LiquidCrystal lcd(27, 26, 25, 24, 23, 22); // Creates an LC object. Parameters:
(rs, enable, d4, d5, d6, d7)
Servo servo1, servo2, servo3, servo4; // DS04-NFC motors
// Stepper motors pins
#define dirPinVertical 0
#define stepPinVertical 1
#define dirPinHorizontal 2
#define stepPinHorizontal 3
#define coinDetector 9
#define button1 13
#define button2 12
#define button3 11
#define button4 10
#define microSwitchV 15
#define microSwitchH 14
int buttonPressed;
void setup() {
lcd.begin(16, 2); // Initializes the interface to the LCD screen, and specifies
the dimensions (width and height) of the display
servo1.attach(4);
servo2.attach(5);
servo3.attach(6);
servo4.attach(7);
pinMode(dirPinVertical, OUTPUT);
pinMode(stepPinVertical, OUTPUT);
pinMode(dirPinHorizontal, OUTPUT);
pinMode(stepPinHorizontal, OUTPUT);
pinMode(coinDetector, INPUT);
// Activating the digital pins pull up resistors
pinMode(button1, INPUT_PULLUP);
pinMode(button2, INPUT_PULLUP);
pinMode(button3, INPUT_PULLUP);
pinMode(button4, INPUT_PULLUP);
pinMode(microSwitchV, INPUT_PULLUP);
pinMode(microSwitchH, INPUT_PULLUP);
// Vertical starting position
digitalWrite(dirPinVertical, HIGH); // Set the stepper to move in a particular
direction
while (true) {
if (digitalRead(microSwitchV) == LOW) { // If the micro switch is pressed, move
the platfor a little bit up and exit the while loop
moveUp(70);
break;
}
// Move the carrier up until the micro switch is pressed
digitalWrite(stepPinVertical, HIGH);
delayMicroseconds(300);
digitalWrite(stepPinVertical, LOW);
delayMicroseconds(300);
}
// Horizontal starting position
digitalWrite(dirPinHorizontal, LOW);
while (true) {
 if (digitalRead(microSwitchH) == LOW) {
moveLeft(350);
break;
}
digitalWrite(stepPinHorizontal, HIGH);
delayMicroseconds(300);
digitalWrite(stepPinHorizontal, LOW);
delayMicroseconds(300);
}
}
void loop() {
// Print "Insert a coin!" on the LCD
lcd.clear();
lcd.setCursor(0, 0);
lcd.print("Insert a coin!");

// Wait until a coin is detected

while (true) {
if (digitalRead(coinDetector) == LOW) { // If a coin is detected, exit the from
the while loop
break;
}
}

delay(10);
lcd.clear();
lcd.setCursor(0, 0);
lcd.print("Select your item");
lcd.setCursor(0, 1);
lcd.print(" 1, 2, 3 or 4?");

// Wait until a button is pressed

while (true) {
if (digitalRead(button1) == LOW) {
buttonPressed = 1;
break;
}
if (digitalRead(button2) == LOW) {
buttonPressed = 2;
break;
}
if (digitalRead(button3) == LOW) {
buttonPressed = 3;
break;
}
if (digitalRead(button4) == LOW) {
buttonPressed = 4;
break;
}
}

// Print "Delivering..."
lcd.clear();
lcd.setCursor(0, 0);
lcd.print("Delivering...");

// Depending on the pressed button, move the carrier to that position and
discharge the selected item
switch (buttonPressed) {
 case 1:
// Move the container to location 1
moveUp(4900); // Move up 4900 steps (Note: the stepper motor is set in
Quarter set resolution)
delay(200);
moveLeft(1700); // Move left 1700 steps
delay(300);
// Rotate the helical coil, discharge the selected item
servo1.writeMicroseconds(2000); // rotate
delay(950);
servo1.writeMicroseconds(1500); // stop
delay(500);
// Move the container back to starting position
moveRight(1700);
delay(200);
moveDown(4900);
break;

case 2:
// Move the container to location 2
moveUp(4900);
delay(200);
// Rotate the helix, push the selected item
servo2.writeMicroseconds(2000); // rotate
delay(950);
servo2.writeMicroseconds(1500); // stop
delay(500);
moveDown(4900);
break;
case 3:
// Move the container to location 3
moveUp(2200);
delay(200);
moveLeft(1700);
delay(300);
// Rotate the helix, push the selected item
servo3.writeMicroseconds(2000); // rotate
delay(950);
servo3.writeMicroseconds(1500); // stop
delay(500);
// Move the container back to starting position
moveRight(1700);
delay(200);
moveDown(2200);
break;
case 4:
// Move the container to location 4
moveUp(2200); // Move verticaly 4800 steps
delay(200);
// Rotate the helix, push the selected item
servo4.writeMicroseconds(2000); // rotate
delay(950);
servo4.writeMicroseconds(1500); // stop
delay(500);
moveDown(2200);
break;
}

lcd.clear(); // Clears the display

 lcd.setCursor(0, 0);
lcd.print("Item delivered!"); // Prints on the LCD
delay(2000);
}
// == Custom functions ==
void moveUp (int steps) {
digitalWrite(dirPinVertical, LOW);
for (int x = 0; x < steps; x++) {
digitalWrite(stepPinVertical, HIGH);
delayMicroseconds(300);
digitalWrite(stepPinVertical, LOW);
delayMicroseconds(300);
}
}
void moveDown (int steps) {
digitalWrite(dirPinVertical, HIGH);
for (int x = 0; x < steps; x++) {
digitalWrite(stepPinVertical, HIGH);
delayMicroseconds(300);
digitalWrite(stepPinVertical, LOW);
delayMicroseconds(300);
}
}
void moveLeft (int steps) {
digitalWrite(dirPinHorizontal, HIGH);
for (int x = 0; x < steps; x++) {
digitalWrite(stepPinHorizontal, HIGH);
delayMicroseconds(300);
digitalWrite(stepPinHorizontal, LOW);
delayMicroseconds(300);
}
}
void moveRight (int steps) {
digitalWrite(dirPinHorizontal, LOW);
for (int x = 0; x < steps; x++) {
digitalWrite(stepPinHorizontal, HIGH);
delayMicroseconds(300);
digitalWrite(stepPinHorizontal, LOW);
delayMicroseconds(300);
}
}
Source code explanation
First we need to include the Servo and the LiquidCrystal libraries, define the LCD
pins, the four servo motors, the stepper motors pins, the coin detector as well as
the four buttons and the two micro switches.

In the setup section we set the pin modes for each of the mentioned pins above. We
can note that for the buttons and the micro switches pins we activated the internal
pull up resistors. This means that the logic level at these pins will be HIGH all
the time, and once we press them, the logic level will drop to LOW.

Before we enter the main loop, we also set the carrier to its starting position
which is defined by the two micro switches. So with the while loop we keep moving
the carrier to its starting position and once the two micro switches will be
pressed, the motors will stop and move to the desired starting position.

// Vertical starting position

digitalWrite(dirPinVertical, HIGH); // Set the stepper to move in a particular
direction
 while (true) {
if (digitalRead(microSwitchV) == LOW) { // If the micro switch is pressed, move
the platfor a little bit up and exit the while loop
moveUp(70);
break;
}
// Move the carrier up until the micro switch is pressed
digitalWrite(stepPinVertical, HIGH);
delayMicroseconds(300);
digitalWrite(stepPinVertical, LOW);
delayMicroseconds(300);
}
// Horizontal starting position
digitalWrite(dirPinHorizontal, LOW);
while (true) {
if (digitalRead(microSwitchH) == LOW) {
moveLeft(350);
break;
}
digitalWrite(stepPinHorizontal, HIGH);
delayMicroseconds(300);
digitalWrite(stepPinHorizontal, LOW);
delayMicroseconds(300);
}