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coffin_control.ino
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coffin_control.ino
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#include "common_coffin.h"
#define HAS_IR
#define HAS_EEPROM
#define HAS_SoftSer
#define MEMSHOWHELP
#ifdef HAS_SoftSer
#include <SoftwareSerial.h>
#endif
#ifdef HAS_EEPROM
#include <EEPROM.h>
#endif
#include "MotorServo.h"
#include "Fog.h"
#include "LEDFader.h"
#ifdef HAS_IR
#include "IRremote.h"
#endif
#define eadd_SitMotor_POT_MIN 1
// lsb 2
#define eadd_SitMotor_POT_MAX 3
// lsb 4
#define eadd_SitMotor_DOWN_SPEED 5
#define eadd_SitMotor_UP_SPEED 6
#define eadd_DoorMotor_POT_MIN 7
// lsb 8
#define eadd_DoorMotor_POT_MAX 9
// lsb 10
#define eadd_DoorMotor_UP_SPEED 11
#define eadd_DoorMotor_DOWN_SPEED 12
#define eadd_delay_fog 13
// lsb 14
#define eadd_fog_delay_on_time 15
// lsb 16
#define eadd_fog_on 17
// next is 13
#define NOVALUEINPUT -1
#define C_VERSION "V1.05"
#define NOVALUEINPUT -1
long inputvalue = NOVALUEINPUT;
long other_inputvalue = NOVALUEINPUT;
pr_stats otherbooard_pr_stats = pr_none;
///////////////////////////////////////////////// PINS
MotorServo SitMotor(A0,
5,
7,
8);
MotorServo DoorMotor(A1,
6,
2,
4);
#define rxPin 19
#define txPin 18
#define FOG_PIN 10
#define LED_PIN 3
//////////////////////
Fog FogMachine(FOG_PIN);
#define FADE_TIME 100
#define LED_DIR_UP 1
#define LED_DIR_DOWN -1
LEDFader LedMain;
int LedMaindirection = LED_DIR_UP;
unsigned long start_loop_time = 0;
////////////////////////////////////////////////
////////// error vars
boolean errordetect = false;
String errorstring = "";
#ifdef HAS_SoftSer
SoftwareSerial serial_otherboard(rxPin, txPin); // RX, TX
#endif
////////// ir global vars
#ifdef HAS_IR
#ifndef NOVALUEINPUT
#define NOVALUEINPUT -1
#endif
int receiver = 11;
int IRvalue = -1;
IRrecv irrecv(receiver); //create a new instance of receiver
decode_results results;
#endif
/////////// program loop vars
/*
enum pr_stats {
pr_none,
pr_open,
pr_situp,
pr_close,
pr_sitdown,
};
*/
pr_stats programloopstat = pr_none;
////////////////////////////////////////////////////////////////////
void ledloop() {
if (LedMain.enabled)
{
LedMain.update();
// LED no longer fading, switch direction
if (!LedMain.is_fading()) {
// Fade down
if (LedMaindirection == LED_DIR_UP) {
LedMain.fade(0, FADE_TIME);
LedMaindirection = LED_DIR_DOWN;
}
// Fade up
else {
LedMain.fade(255, FADE_TIME);
LedMaindirection = LED_DIR_UP;
}
}
}
}
////////////////////////////////////////////////////////////////////
void write_to_eprom() {
#ifdef HAS_EEPROM
byte savedummyvar = 1;
EEPROM.put(0, savedummyvar);
EEPROM.put(eadd_SitMotor_POT_MIN, SitMotor.POT_MIN);
EEPROM.put(eadd_SitMotor_POT_MAX, SitMotor.POT_MAX);
EEPROM.put(eadd_SitMotor_DOWN_SPEED, SitMotor.DOWN_SPEED);
EEPROM.put(eadd_SitMotor_UP_SPEED, SitMotor.UP_SPEED);
EEPROM.put(eadd_DoorMotor_POT_MIN, DoorMotor.POT_MIN);
EEPROM.put(eadd_DoorMotor_POT_MAX, DoorMotor.POT_MAX);
EEPROM.put(eadd_DoorMotor_DOWN_SPEED, DoorMotor.DOWN_SPEED);
EEPROM.put(eadd_DoorMotor_UP_SPEED, DoorMotor.UP_SPEED);
EEPROM.put(eadd_delay_fog, FogMachine.getdelay_fogsec());
EEPROM.put(eadd_fog_delay_on_time, FogMachine.getdelay_on_timesec());
EEPROM.put(eadd_fog_on, int(FogMachine.isfogstatuson()));
#endif
}
////////////////////////////////////////////////////// setup
void setup()
{
LedMain = LEDFader(LED_PIN);
LedMain.fade(255, FADE_TIME);
errorstring.reserve(40);
// initialize serial:
Serial.begin(115200);
pinMode(rxPin, INPUT);
pinMode(txPin, OUTPUT);
// comport
#ifdef HAS_SoftSer
serial_otherboard.begin(38400);
#endif
/*
SitMotor.Current_pot :515
SitMotor.UP_SPEED :110
SitMotor.DOWN_SPEED :80
SitMotor.POT_MAX :810
SitMotor.POT_MIN :525
DoorMotor.Current_pot:101
DoorMotor.UPSPEED :190
DoorMotor.DOWNSPEED :55
DoorMotor.POT_MAX :690
DoorMotor.POT_MIN :120
*/
#ifdef HAS_EEPROM
if (EEPROM.read(0) == 0) {
#endif
SitMotor.POT_MIN = 525;
SitMotor.POT_MAX = 810;
SitMotor.DOWN_SPEED = 70;
SitMotor.UP_SPEED = 110;
DoorMotor.POT_MIN = 120;
DoorMotor.POT_MAX = 690;
DoorMotor.UP_SPEED = 190;
DoorMotor.DOWN_SPEED = 55;
#ifdef HAS_EEPROM
}
else {
int tmpint = 0;
int tmpint2 = 0;
EEPROM.get(eadd_SitMotor_POT_MIN, SitMotor.POT_MIN);
EEPROM.get(eadd_SitMotor_POT_MAX, SitMotor.POT_MAX);
EEPROM.get(eadd_SitMotor_UP_SPEED, SitMotor.UP_SPEED);
EEPROM.get(eadd_SitMotor_DOWN_SPEED, SitMotor.DOWN_SPEED);
EEPROM.get(eadd_DoorMotor_POT_MIN, DoorMotor.POT_MIN);
EEPROM.get(eadd_DoorMotor_POT_MAX, DoorMotor.POT_MAX);
EEPROM.get(eadd_DoorMotor_UP_SPEED, DoorMotor.UP_SPEED);
EEPROM.get(eadd_DoorMotor_DOWN_SPEED, DoorMotor.DOWN_SPEED);
EEPROM.get(eadd_delay_fog, tmpint);
EEPROM.get(eadd_fog_delay_on_time, tmpint2);
FogMachine.setfogsec(tmpint, tmpint2);
EEPROM.get(eadd_fog_on, tmpint);
if (tmpint != 0)
FogMachine.setfogstatuson();
}
#endif
#ifdef HAS_IR
irrecv.enableIRIn(); //start the receiver
#endif
ShowHelp();
start_loop_time = (millis() - 5000);
}
void doerror(String serror) {
errordetect = true;
errorstring = serror;
}
void programloop() {
FogMachine.check();
ledloop();
if (DoorMotor.check() < 0) {
doerror(F("DoorMotor FAIL"));
}
if (SitMotor.check() < 0) {
doerror(F("SitMotor FAIL"));
}
int DoorMotor_Current_pot = DoorMotor.Current_pot();
int SitMotor_Current_pot = SitMotor.Current_pot();
/// broken pot ...
if ((DoorMotor_Current_pot < 2 )||(DoorMotor_Current_pot > 1023))
doerror(F("DoorMotor_Current_pot pot FAIL"));
if ((SitMotor_Current_pot < 2) || (SitMotor_Current_pot > 1023))
doerror(F("SitMotor_Current_pot pot FAIL"));
/////
if (errordetect) return;
switch (programloopstat) {
case pr_none:
// ADD TIMER AND CHECK FOR FIRE HERE
break;
case pr_open:
if (DoorMotor_Current_pot > (DoorMotor.POT_MAX - 5)) {
programloopstat = pr_situp;
}
else {
if ((DoorMotor.GetDIRECTION() == DIRECTION_OFF) && (DoorMotor_Current_pot < (DoorMotor.POT_MAX - 5))) {
FogMachine.FogNOW();
LedMain.enabled = true;
docmd('o');
}
}
break;
case pr_situp:
if (DoorMotor_Current_pot < (DoorMotor.POT_MAX - 5)) {
programloopstat = pr_open;
return;
}
if (SitMotor_Current_pot > (SitMotor.POT_MAX - 5)) {
programloopstat = stat_openandsitdone;
docmd('P');
}
else {
if ((SitMotor.GetDIRECTION() == DIRECTION_OFF) && (SitMotor_Current_pot < (SitMotor.POT_MAX - -5))) {
docmd('U');
}
}
break;
case pr_close:
if (SitMotor_Current_pot > (SitMotor.POT_MIN + 30)) {
programloopstat = pr_sitdown;
return;
}
if (DoorMotor_Current_pot < (DoorMotor.POT_MIN + 5)) {
programloopstat = stat_closeandsitdone;
docmd('P');
}
else {
if ((DoorMotor.GetDIRECTION() == DIRECTION_OFF) && (DoorMotor_Current_pot >(DoorMotor.POT_MIN - 5))) {
// FogMachine.Stop() ;
// LedMain.enabled = false;
docmd('c');
start_loop_time = millis();
}
}
break;
case pr_sitdown:
if (SitMotor_Current_pot < (SitMotor.POT_MIN + 5)) {
programloopstat = pr_close;
}
else {
if ((SitMotor.GetDIRECTION() == DIRECTION_OFF) && (SitMotor_Current_pot >(SitMotor.POT_MAX - 5))) {
docmd('D');
}
}
break;
}
}
////////////////////////////////////////////////////// loop
void loop()
{
serialEvent(); //call the function
serialEventotherboard(); //call the function
#ifdef HAS_IR
doIRdata();
#endif
if (errordetect) {
Serial.print(errorstring);
delay(1000);
}
else {
if ((start_loop_time + 40000) < millis() ){
programloopstat = pr_situp;
start_loop_time = millis();
}
programloop();
}
}
////////////////////////////////////////////////////// ShowHelp
void ShowHelp() {
#ifdef MEMSHOWHELP
Serial.print(F("Coffin "));
Serial.println(C_VERSION);
Serial.println(F(" E Stop "));
Serial.println("");
Serial.println(F("<num>U - SIT up POT_MAX "));
Serial.println(F("<num>D - SIT up POT_Min "));
Serial.println("");
Serial.println(F("<num>o - DOOR Open POT_MAX "));
Serial.println(F("<num>c - DOOR Close POT_Min "));
Serial.println("");
Serial.println(F("<num>S(s) - UP_SPEED "));
Serial.println(F("<num>W(w) - DOWN_SPEED"));
Serial.println("");
Serial.println(F("<num>A(a) - Pot MAX "));
Serial.println(F("<num>I(i) - Pot MIN "));
Serial.println(F(" n FOG NOW "));
Serial.println(F(" m FOG start"));
Serial.println(F(" b FOG off "));
Serial.println(F("<num>. FOG adelay_fogsec "));
Serial.println(F("<num>, FOG adelay_on_timesec "));
Serial.println(F(" Z WRITE EPROM :"));
Serial.println(F("--------------------------------------"));
Serial.print(F(" SitMotor.Current_pot :"));
Serial.println(SitMotor.Current_pot());
Serial.print(F(" SitMotor.UP_SPEED :"));
Serial.println(SitMotor.UP_SPEED);
Serial.print(F(" SitMotor.DOWN_SPEED :"));
Serial.println(SitMotor.DOWN_SPEED);
Serial.print(F(" SitMotor.POT_MAX :"));
Serial.println(SitMotor.POT_MAX);
Serial.print(F(" SitMotor.POT_MIN :"));
Serial.println(SitMotor.POT_MIN);
Serial.print(F(" SitMotor.direction :"));
Serial.println(SitMotor.GetDIRECTION());
Serial.print(F(" DoorMotor.Current_pot:"));
Serial.println(DoorMotor.Current_pot());
Serial.print(F(" DoorMotor.UPSPEED :"));
Serial.println(DoorMotor.UP_SPEED);
Serial.print(F(" DoorMotor.DOWNSPEED :"));
Serial.println(DoorMotor.DOWN_SPEED);
Serial.print(F(" DoorMotor.POT_MAX :"));
Serial.println(DoorMotor.POT_MAX);
Serial.print(F(" DoorMotor.POT_MIN :"));
Serial.println(DoorMotor.POT_MIN);
Serial.print(F(" DoorMotor.direction :"));
Serial.println(SitMotor.GetDIRECTION());
Serial.print(F(" FOG :"));
Serial.println(int(FogMachine.isfogstatuson()));
Serial.print(F(" FOG getdelay_fogsec :"));
Serial.println(int(FogMachine.getdelay_fogsec()));
Serial.print(F(" FOG getdelay_on_timesec :"));
Serial.println(int(FogMachine.getdelay_on_timesec()));
// Serial.println("--------------------------------------");
#endif
}
////////////////////////////////////////////////////// serialEventotherboard
void serialEventotherboard() {
while (serial_otherboard.available()) {
// get the new byte:
char inChar = (char)serial_otherboard.read();
switch (inChar) {
case 48 ... 57:
if (other_inputvalue == NOVALUEINPUT) {
other_inputvalue = 0;
}
other_inputvalue = 10 * other_inputvalue + inChar - '0';
break;
case'p':
switch (other_inputvalue)
{
case pr_none:
otherbooard_pr_stats = pr_none;
break;
case pr_before_open_loop:
otherbooard_pr_stats = pr_before_open_loop;
break;
case pr_open:
otherbooard_pr_stats = pr_open;
// programloopstat = pr_open;
break;
case pr_wake_up:
otherbooard_pr_stats = pr_wake_up;
break;
case pr_situp:
otherbooard_pr_stats = pr_situp;
// programloopstat = pr_situp;
break;
case pr_talk:
otherbooard_pr_stats = pr_talk;
// programloopstat = pr_talk;
break;
case pr_sitdown:
otherbooard_pr_stats = pr_sitdown;
break;
case pr_sleep:
otherbooard_pr_stats = pr_sleep;
// programloopstat = pr_sleep;
break;
case pr_close:
otherbooard_pr_stats = pr_close;
programloopstat = pr_sitdown;
break;
case pr_after_close:
otherbooard_pr_stats = pr_after_close;
break;
case stat_openandsitdone:
otherbooard_pr_stats = stat_openandsitdone;
// programloopstat = stat_openandsitdone;
break;
case stat_closeandsitdone:
otherbooard_pr_stats = stat_closeandsitdone;
LedMain.enabled = false;
// programloopstat = stat_closeandsitdone;
break;
default:
/// unknown
break;
Serial.print('other board p');
Serial.println(other_inputvalue);
}
other_inputvalue = NOVALUEINPUT;
break;
}
// if the incoming character is a newline, set a flag
// so the main loop can do something about it:
}
}
////////////////////////////////////////////////////// doIRdata
void doIRdata() {
#ifdef HAS_IR
if (irrecv.decode(&results)) { //we have received an IR
int IRDIGIT = NOVALUEINPUT;
switch (results.value) {
case 0XC101E57B:
IRDIGIT = 1;
break;
case 0X97483BFB:
IRDIGIT = 2;
break;
case 0XF0C41643:
IRDIGIT = 3;
break;
case 0X9716BE3F:
IRDIGIT = 4;
break;
case 0X3D9AE3F7:
IRDIGIT = 5;
break;
case 0X6182021B:
IRDIGIT = 6;
break;
case 0X8C22657B:
IRDIGIT = 7;
break;
case 0X488F3CBB:
IRDIGIT = 8;
break;
case 0X449E79F:
IRDIGIT = 9;
break;
case 0X1BC0157B:
IRDIGIT = 0;
break;
case 0X32C6FDF7: //////////////////////////////////////////////////////// *
programloopstat = pr_situp;
#ifdef DEBUG
Serial.println("*");
Serial.println(IRvalue);
#endif
IRvalue = NOVALUEINPUT;
break;
case 0X3EC3FC1B: //////////////////////////////////////////////////////// #
programloopstat = pr_sitdown;
#ifdef DEBUG
Serial.println("#");
Serial.println(IRvalue);
#endif
IRvalue = NOVALUEINPUT;
break;
case 0X511DBB: ////////////////////////////////////////////////////////UP
docmd('U');
#ifdef DEBUG
Serial.println("UP");
Serial.println(IRvalue);
#endif
IRvalue = NOVALUEINPUT;
break;
case 0XA3C8EDDB: ////////////////////////////////////////////////////////DOWN
docmd('D');
#ifdef DEBUG
Serial.println("DOWN");
Serial.println(IRvalue);
#endif
IRvalue = NOVALUEINPUT;
break;
case 0X52A3D41F: ////////////////////////////////////////////////////////LEFT
docmd('c');
#ifdef DEBUG
Serial.println("LEFT");
Serial.println(IRvalue);
#endif
IRvalue = NOVALUEINPUT;
break;
case 0X20FE4DBB: ////////////////////////////////////////////////////////RIGHT
docmd('o');
#ifdef DEBUG
Serial.println("RIGHT");
Serial.println(IRvalue);
#endif
IRvalue = NOVALUEINPUT;
break;
case 0XD7E84B1B: //////////////////////////////////////////////////////// OK
switch (IRvalue) {
case NOVALUEINPUT:
docmd('E');
break;
case 1:
docmd('n');
break;
case 2:
docmd('m');
break;
case 3:
docmd('b');
break;
case 4:
docmd('f');
break;
case 5:
docmd('g');
break;
}
#ifdef DEBUG
Serial.println("OK");
Serial.println(IRvalue);
#endif
IRvalue = NOVALUEINPUT;
break;
default:
// if nothing else matches, do the default
#ifdef DEBUG
Serial.println(results.value, HEX); //display HEX
#endif
break;
}
if (IRDIGIT != NOVALUEINPUT) {
if (IRvalue == NOVALUEINPUT) {
IRvalue = 0;
}
IRvalue = (10 * IRvalue) + IRDIGIT;
#ifdef DEBUG
Serial.println(IRvalue);
#endif
}
irrecv.resume(); //next valuea
}
#endif
}
////////////////////////////////////////////////////// serialEvent
void serialEvent() {
while (Serial.available()) {
// get the new byte:
char inChar = (char)Serial.read();
// inputString += inChar;
#ifdef DEBUG
// Serial.print("NEW inputString : ");
// Serial.println(inputString);
#endif
docmd(inChar);
// if the incoming character is a newline, set a flag
// so the main loop can do something about it:
}
}
void docmd(char inChar) {
switch (inChar) {
case 48 ... 57:
if (inputvalue == NOVALUEINPUT) {
inputvalue = 0;
}
inputvalue = 10 * inputvalue + inChar - '0';
break;
case 'H':
ShowHelp();
inputvalue = NOVALUEINPUT;
break;
case 'Z':
write_to_eprom();
inputvalue = NOVALUEINPUT;
break;
case 'E':
errordetect = false;
SitMotor.StopMotor();
DoorMotor.StopMotor();
inputvalue = NOVALUEINPUT;
break;
case 'e':
errordetect = false;
SitMotor.StopMotor();
DoorMotor.StopMotor();
inputvalue = NOVALUEINPUT;
break;
case 'U':
/// check if we will bang head
if (inputvalue == NOVALUEINPUT) {
inputvalue = SitMotor.POT_MAX;
}
if (DoorMotor.Current_pot() > (DoorMotor.POT_MIN) - 5) {
#ifdef DEBUG
Serial.print(inputvalue);
#endif
SitMotor.Goto(inputvalue);
}
else {
// will bag head
#ifdef DEBUG
Serial.print(F("sit will bang head"));
#endif
}
inputvalue = NOVALUEINPUT;
// Serial.println("<num>D - up POT_Min ");
break;
case 'D':
if (inputvalue == NOVALUEINPUT) {
inputvalue = SitMotor.POT_MIN;
}
SitMotor.Goto(inputvalue);
inputvalue = NOVALUEINPUT;
break;
// Serial.println("<num>O - Open POT_MAX ");
case 'o':
if (inputvalue == NOVALUEINPUT) {
inputvalue = DoorMotor.POT_MAX;
}
// DoorMotor.POT_MIN = inputvalue;
DoorMotor.Goto(inputvalue);
inputvalue = NOVALUEINPUT;
break;
// Serial.println("<num>C - Close POT_Min ");
case 'c':
if (inputvalue == NOVALUEINPUT) {
inputvalue = DoorMotor.POT_MIN;
}
if (SitMotor.Current_pot() > (SitMotor.POT_MIN + 20)) {
#ifdef DEBUG
Serial.print(F("sit will bang head"));
#endif
}
else {
DoorMotor.Goto(inputvalue);
}
inputvalue = NOVALUEINPUT;
break;
// Serial.println("<num>Y - Door target_vol ");
// Serial.println("<num>T - Sit target_vol ");
// Serial.println("<num>V - Volosity factor SIT ");
case 'S':
if (inputvalue != NOVALUEINPUT) {