void setup()
{
//to prevent fuse from blowing
motor.speed(leftWheelPin, 0) ;
motor.speed(rightWheelPin, 0) ;
//attach driving servo
RCServo1.attach(RCServo1Output) ;
RCServo1.write(neutral) ;
//set ports to inputs
portMode(0, INPUT) ;
portMode(1, INPUT) ;
Serial.begin(9600);
while(1){
delay(50);
while( !(stopbutton()) ){
delay(50);
LCD.setCursor(0,0); LCD.clear(); LCD.home() ;
LCD.print("kP");
LCD.print(" ");
LCD.print(kP);
kP = knob(knob_one)/10;
LCD.print(" ");
LCD.setCursor(0,1);
LCD.print("kD");
LCD.print(" ");
LCD.print(kD);
kD = knob(knob_two)/10;
if (startbutton())
{
goto loopstart;
}
}
delay(50);
while( !(stopbutton())) {
delay(50);
LCD.setCursor(0,0); LCD.clear(); LCD.home() ;
LCD.print("motorSpeed");
LCD.print(" ");
LCD.print(motorSpeed);
motorSpeed = knob(knob_two);
LCD.setCursor(0,1);
LCD.print("Adjust");
LCD.print(" ");
LCD.print(knob(knob_one));
motorAdjustment = knob(knob_one)/512;
if (startbutton())
{
goto loopstart;
}
}
}
loopstart: ;
}
void setup()
{
portMode(0, INPUT);
LCD.clear();
LCD.home();
LCD.setCursor(0,0); LCD.print("Wave Frequency");
LCD.setCursor(0,1); LCD.print("Press Start");
while ( !(startbutton()) ) ;
}
void setup()
{
portMode(0, INPUT);
LCD.clear();
LCD.home();
LCD.setCursor(0,0); LCD.print("Hello World!");
LCD.setCursor(0,1); LCD.print("Press Start");
while ( !(startbutton()) ) ;
}
void UpdateMenu()
{
if (startbutton())
{
ChangeMenuState();
delay(mMenuDelay);
}
RefreshCurSelection();
UpdateDisplay();
delay(mUpdateDelay);
}
// Determines if the start button is being pressed.
// Optional: Debounces the button for the specified number of milliseconds
bool StartButton(int debounceTime = 80)
{
if(!startbutton()) return false;
delay(debounceTime);
return startbutton();
}
void loop()
{
RCServo1.write(angle_neutral);
collector_switchState = LOW;
if (timeTicker == 50) {
timeTicker = 0;
if (startbutton() && !startButtonState) {
if (menuState == 3) {
menuState = 1;
} else {
menuState++;
}
editable = false;
startButtonState = true;
delay(500);
} else if (stopbutton() && !stopButtonState) {
editable = true;
stopButtonState = true;
} else {
stopButtonState = false;
startButtonState = false;
}
LCD.clear();
// Menu System
// 1:
switch (menuState) {
case 1:
LCD.print("Rest: ");
userSet = (int)(knob(6) * 180.0/1024.0);
if (userSet != angle_neutral && editable){
angle_neutral = userSet;
}
LCD.print(angle_neutral, DEC);
LCD.setCursor(0,1);
LCD.print("Collect?: Y/N ");
userSet = (int)(knob(7) * 2.0/1024.0);
if(userSet != collect_status && editable){
collect_status = userSet;
}
LCD.print(collect_status, DEC);
break;
case 2:
LCD.print("Min: ");
userSet = (int)(knob(6) * 180.0/1024.0);
if(userSet != angle_min && editable){
angle_min = userSet;
}
LCD.print(angle_min, DEC);
LCD.setCursor(0,1);
LCD.print("Max: ");
userSet = (int)(knob(7) * 180.0/1024.0);
if(userSet != angle_max && editable){
angle_max = userSet;
}
LCD.print(angle_max, DEC);
break;
case 3:
LCD.print("TestRange: ");
userSet = 1.5*(int)(knob(6) * 180.0/1024.0);
if(userSet != angle_neutral && editable){
if (userSet >= 180){
angle_neutral = 180;
} else{
angle_neutral = userSet;
}
}
LCD.print(angle_neutral, DEC);
break;
}
}
if(collect_status == 1){
collector_switchState = digitalRead(COLLECTOR_SWITCHPIN);
if(collector_switchState){
RCServo1.write(angle_min);
delay(200);
RCServo0.write(angle_max);
delay(200);
pusher_activate();
RCServo1.write(angle_neutral);
collector_switchState = false;
}
}
timeTicker++;
}
