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apachebot.ino
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apachebot.ino
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#include <TM1637Display.h> //import library for 7-segment diaplsy
#include <Arduino.h>
#include <SPI.h>
#include <SD.h>
//Initializing pins on Arduino Pro Mini
int forwardPin = 4; //forward side of dead-man rocker switch
int backwardPin = 5; //backward side of dead-man rocker switch
int PWM_out = 6; //PWM out to motor controller
float val; //temp variable for potentiometer value
float mappedVal; //temp calculated variable for potentiometer value
float linear; //float with calculated linear value of log pot
int average = 0;
float motorPulse = 1500; //original starting motor pulse
float middleSpace = 1500; //middle motor pulse (no movement)
float incrementSpeed = 5; //how fast to increment motor speed by
float decrementSpeed = 20; //how fast to decrement motor speed by
String statusOfCart = "STOPPED"; //keep track of current robot status
#define CLK 2 //connector pins for I2C for 7-seg display
#define DIO 3
float max = 0; //min PWM pulse val
float min = 2000; //max PWM pulse val
TM1637Display display(CLK, DIO); //init 7-seg display object to pins
uint8_t data[] = { 0xff, 0xff, 0xff, 0xff }; //hex vals for all segments on, holds current val to be shown
const int chipSelect = 10; //activator pin SD card is connected to
void setup() {
pinMode(forwardPin, INPUT);
pinMode(backwardPin, INPUT); //Init the pins as in or out
pinMode(PWM_out, OUTPUT);
pinMode(LED_BUILTIN, OUTPUT);
Serial.begin(9600);
uint8_t blank[] = { 0x00, 0x00, 0x00, 0x00 }; //hex vals for all segments off
display.setSegments(blank); //Set display to blank
Serial.print("Initializing SD card..."); //for debugging purposes
// see if the card is present and can be initialized:
if (!SD.begin(chipSelect)) {
Serial.println("Card failed, or not present");
}
Serial.println("card initialized.");
newBootUp();
createLogFileLine("Robot Booted and Card Initialized");
}
void loop() {
uint8_t blank[] = { 0x00, 0x00, 0x00, 0x00 }; //hex vals for all segments off
display.setBrightness(0x0f); //set brightness to max
while (not digitalRead(forwardPin) && not digitalRead(backwardPin)) { //while move button is not on
smoothDialVal();
//Serial.println(calculatePulseOffset());
Serial.println("stop");
Serial.println(getCurrentOnMotor());
//if (!statusOfCart.equals("STOPPED")) {
//changeStatus("STOPPED");
//createLogFileLine("Cart Stopped");
//}
digitalWrite(LED_BUILTIN, LOW);
delay(20);
if (motorPulse > middleSpace) {
motorPulse -= decrementSpeed;
} //slow down cart from either direction back to 1500
if (motorPulse < middleSpace) {
motorPulse += decrementSpeed;
}
sendMSpulse(motorPulse); //send pulse to motor
//Serial.println(motorPulse);
writeToDisplay();
delay(1);
}
while (digitalRead(forwardPin)) //while forward is pressed on switch
{
//logCurrent();
Serial.println("forward");
//Serial.println(calculatePulseOffset());
Serial.println(getCurrentOnMotor());
if (motorPulse < (middleSpace + calculatePulseOffset())) { //ramp cart speed up
motorPulse += incrementSpeed;
}
//if (!statusOfCart.equals("FORWARD")) {
// changeStatus("FORWARD");
//createLogFileLine("Cart Moving Forward");
//}
sendMSpulse(motorPulse); //send pulse to motor
digitalWrite(LED_BUILTIN, HIGH);
//Serial.println(motorPulse);
writeToDisplay();
delay(1);
}
while (digitalRead(backwardPin)) //while backward is pressed on switch
{
//logCurrent();
Serial.println("backward");
//Serial.println(calculatePulseOffset());
Serial.println(getCurrentOnMotor());
if (motorPulse > 1335) { //ramp cart speed up
motorPulse -= incrementSpeed;
}
//if (!statusOfCart.equals("BACKWARD")) {
//changeStatus("BACKWARD");
//createLogFileLine("Cart Moving Backward");
//}
sendMSpulse(motorPulse); //send pulse to motor
digitalWrite(LED_BUILTIN, HIGH);
//Serial.println(motorPulse);
writeToDisplay();
delay(1);
}
}
bool rockerForward()
{
return bool(digitalRead(forwardPin)); //unneeded but this does a nice bool instead of casting in the "if" statement
}
bool rockerBackward()
{
return bool(digitalRead(backwardPin)); //unneeded but this does a nice bool instead of casting in the "if" statement
}
float calculatePulseOffset() {
// min max 1mph 2mph
//float temp = map(average, 520, 1020, 500, 0);
float pulseAmount =0;
if(average>=654){pulseAmount = map(average, 654, 1010, 50, 0);}
else {pulseAmount = map(average, 520, 654, 100, 50);}
return pulseAmount*5;
}
void smoothDialVal() {
//int sensorValue = log(analogRead(A0)) / log(1000) * 1023;
int sensorValue = analogRead(A0);
if (abs(sensorValue - average) > 5) {
average = sensorValue;
String message = "Adjusting dial";
createLogFileLine(message);
}
}
void writeToDisplay() {
//int percentage = map(average, 520, 1010, 100, 0);
//percentage = average * 0.01;
int percentage = 0;
if(average>=654){percentage = map(average, 654, 1010, 50, 0);}
else {percentage = map(average, 520, 654, 100, 50);}
if (percentage < 0) {
display.showNumberDec(0, false);
}
else if (percentage > 100) {
display.showNumberDec(100, false);
}
else {
display.showNumberDec(percentage, false);
}
}
void sendMSpulse(int pulseLength) { //send PWM pulse to motor
digitalWrite(PWM_out, HIGH);
delayMicroseconds(pulseLength);
digitalWrite(PWM_out, LOW);
delay(20);
}
void changeStatus(String currentStatus) {
}
void createLogFileLine(String message) {
File dataFile = SD.open("datalog.txt", FILE_WRITE);
// if the file is available, write to it:
if (dataFile) {
int hr = millis() / 3600000;
int mn = (millis() / 60000) % 60;
int sec = (millis() / 1000) % 60;
int mil = map(millis() % 1000, 0, 999, 0, 99);
if (hr < 10) dataFile.print("0");
dataFile.print(hr);
dataFile.print(":");
if (mn < 10) dataFile.print("0");
dataFile.print(mn);
dataFile.print(":");
if (sec < 10) dataFile.print("0");
dataFile.print(sec);
dataFile.print(":");
if (mil < 10) dataFile.print("0");
dataFile.print(mil);
dataFile.print(" - ");
dataFile.println(message);
dataFile.close();
}
else {
Serial.println("error opening datalog.txt");
}
}
void newBootUp() {
File dataFile = SD.open("datalog.txt", FILE_WRITE);
// if the file is available, write to it:
if (dataFile) {
dataFile.println("##########################################################");
dataFile.println(" APACHE UVC CART CONTROL SYSTEM BOOTED - CLOCK RESET");
dataFile.println("##########################################################");
dataFile.close();
}
else {
Serial.println("error opening datalog.txt");
}
}
String getCurrentOnMotor() {
int percentageVal =0;
if(average>=654){percentageVal = map(average, 654, 1010, 50, 0);}
else {percentageVal = map(average, 520, 654, 100, 50);}
return String(percentageVal);
}
void logCurrent() {
File dataFile = SD.open("datalog.txt", FILE_WRITE);
// if the file is available, write to it:
if (dataFile) {
int hr = millis() / 3600000;
int mn = (millis() / 60000) % 60;
int sec = (millis() / 1000) % 60;
int mil = map(millis() % 1000, 0, 999, 0, 99);
if (hr < 10) dataFile.print("0");
dataFile.print(hr);
dataFile.print(":");
if (mn < 10) dataFile.print("0");
dataFile.print(mn);
dataFile.print(":");
if (sec < 10) dataFile.print("0");
dataFile.print(sec);
dataFile.print(":");
if (mil < 10) dataFile.print("0");
dataFile.print(mil);
dataFile.print(" - ");
dataFile.print(" Motor Current: ");
dataFile.print(getCurrentOnMotor());
dataFile.println(" Amps");
dataFile.close();
}
else {
Serial.println("error opening datalog.txt");
}
}