int robot_begin() { int ret = SUCCESS; int ivalue = 0; ret = motor_begin(); if (ret != SUCCESS) return ret; Serial.println("Begin Robot Init"); Serial.println("****************"); lcd.clear(); lcd.print("Begin Robot Init"); pinMode(Led_Green, OUTPUT); // set the pin as output blink(Led_Green); pinMode(Led_Red, OUTPUT); // set the pin as output blink(Led_Red); pinMode(Led_Blue, OUTPUT); // set the pin as output blink(Led_Blue); Serial.println("Init Leds OK"); // initialize the buzzer pinMode(buzzPin, OUTPUT); buzz(3); Serial.println("Init Buzzer OK"); // initialize the Tilt&Pan servos TiltPan_begin(HSERVO_Pin, VSERVO_Pin); Serial.println("Init Tilt&Pan servos OK"); // initialize the camera Serial.println(" "); Serial.println("Begin Init Camera..."); ret=JPEGCamera.begin(); if (ret != SUCCESS) { Serial.print("Error Init Camera, error: "); Serial.println(ret); lcd.setCursor(0,1); lcd.print("Init Camera KO "); } else { Serial.println("Init Camera OK"); lcd.setCursor(0,1); lcd.print("Init Camera OK "); } delay(5*1000);lcd.clear(); // initialize the SD-Card ret = initSDCard(); if (ret != SUCCESS) { Serial.print("Error Init SD-Card, error: "); Serial.println(ret); lcd.print("Init SD-Card KO "); } else { Serial.println("Init SD-Card OK"); lcd.print("Init SD-Card OK "); } // get infos from SD-Card ret=infoSDCard(); if (ret < 0) { Serial.print("Error Infos SD-Card, error: "); Serial.println(ret); lcd.setCursor(0,1); lcd.print("Err Infos SDCard"); } else { no_picture = ret+1; Serial.print("no_picture starts at: "); Serial.println(no_picture); lcd.setCursor(0,1); lcd.print("Num picture:");lcd.print(no_picture); } delay(5*1000);lcd.clear(); // initialize the brightness sensor TEMT6000.TEMT6000_init(TEMT6000_Pin); // initialize the pin connected to the sensor Serial.println("Init Brightness sensor OK"); ivalue = TEMT6000.TEMT6000_getLight(); Serial.print("Value between 0 (dark) and 1023 (bright): "); Serial.println(ivalue); lcd.print("Lux:");lcd.print(ivalue);lcd.printByte(lcd_pipe); // initialize the temperature sensor TMP102.TMP102_init(); Serial.println("Init Temperature sensor OK"); double temperature = TMP102.TMP102_read(); ivalue = (int)(100.0 * temperature); Serial.print("Temperature: "); Serial.println(ivalue); lcd.print("T:");lcd.print(ivalue);lcd.printByte(lcd_celcius);lcd.printByte(lcd_pipe); // initialize the electret micro //Micro.Micro_init(MICRO_Pin); // initialize the pin connected to the micro //Serial.println("Init Micro OK"); // initialize the motion sensor pinMode(MOTION_PIN, INPUT); Serial.println("Init Motion sensor OK"); // initialize the IOT Serial 1 IOTSerial.IOTSbegin(1); // initialize the IOT Serial 1 to communicate with IOT WIFClient ESP8266 Serial.println ("Init IOT Serial 1 to communicate with IOT WIFClient ESP8266 OK"); // initialize the IOT Serial 2, interrupt setting IOTSerial.IOTSbegin(2); // initialize the IOT Serial 2 to communicate with IOT WIFServer ESP8266 Serial.println ("Init IOT Serial 2 to communicate with IOT WIFServer ESP8266 OK"); pinMode(IOT_PIN, INPUT_PULLUP); attachInterrupt(digitalPinToInterrupt(IOT_PIN), IntrIOT, RISING); // set IOT interrupt interrupts(); // enable all interrupts Serial.print("Init Interrupts OK, IntIOT: "); Serial.println(IntIOT); lcd.setCursor(0,1); lcd.print("End Robot Init"); delay(5*1000);lcd.clear(); Serial.println("End Robot Init"); Serial.println("**************"); Serial.println(""); return SUCCESS; }