////////////////////////////////////////////////////////////////////////////////
// Name: mrBolderminBrain2018 //
// Platform: Arduino Mega 2560 //
// Created by: HARB rboek2@gmail.com august 2018 GPL copyrights //
// http://robotigs.com/robotigs/includes/bots_header.php?idbot=16 //
// This program will drive the Bolderbot Mini chassis //
// Based on Simple Motor Shield sketch By arduino.cc user "Krodal" June 2012 //
////////////////////////////////////////////////////////////////////////////////
/*
Pressure Shield Example
This example shows an application on 1Sheeld's pressure shield.
By using this example, you can send a SMS when the value
of the smartphone's pressure sensor exceeds a certain limit.
OPTIONAL:
To reduce the library compiled size and limit its memory usage, you
can specify which shields you want to include in your sketch by
defining CUSTOM_SETTINGS and the shields respective INCLUDE_ define.
*
SMS Shield Example
This example shows an application on 1Sheeld's SMS shield.
By using this example, you can send a SMS when the value
of the smartphone's temperature sensor exceeds a certain
limit.
OPTIONAL:
To reduce the library compiled size and limit its memory usage, you
can specify which shields you want to include in your sketch by
defining CUSTOM_SETTINGS and the shields respective INCLUDE_ define.
*/
#define CUSTOM_SETTINGS
#define INCLUDE_SMS_SHIELD
#define INCLUDE_TEMPERATURE_SENSOR_SHIELD
/* Include 1Sheeld library. */
#include <OneSheeld.h>
/* Define a boolean flag. */
boolean isMessageSent = false;
void setup(){
Serial.begin(9600); //Nothing more needed for the Serial Monitor to function
Serial.println("Setup gedaan");
OneSheeld.begin(); /* Start communication. */
}
void loop(){
/* Always check if the temperature value is larger than a certain value. */
if (TemperatureSensor.getValue() > 30) {
if(!isMessageSent){
/* Send the SMS. */
//SMS.send("0620251814","Room Temperature is higher than 30 degree!");
/* Set the flag. */
isMessageSent = true;
Serial.println("SMS verzonden");
}
}else{
isMessageSent = false; /* Reset the flag. */
}
}
/*
// SET PRECOMPILER OPTIONS *****************************************************
// Initialse conditional compiling, uncomment to include, comment to exclude --
// Do comment the next line for runtime versions -----------------------------
//#define RS232 //Uncomment to include Serial Monitor sections COMPILER
//#ifdef RS232 //Lines only included if Serial Monitor is defined COMPILER
//#endif //End of conditional compiling COMPILER
//Set appropriate IR remote control to be used -------------------------------
//#define Keyes //Set Remote Control by uncommenting IR RECEIVE
#define Provision //Set Remote Control by uncommenting IR RECEIVE
// Define precompiler variables, runs faster & doesn`t use RAM ---------------
// Define PINS ---------------------------------------------------------------
#define RCDpin 0 //Rcd Receive serial connection yellow BRAINS
#define TXDpin 1 //Txd Transmit serial connection blue BRAINS
#define RECV_PIN 2 //Define which DIO pin connects white IR RECEIVER
#define MOTOR2_PWM 3 //Arduino pin for PWM signal for right MOTOR2
#define buzActPin 6 //Define which I/O pin connects the activ white BUZZER
#define MOTOR1_PWM 11 //Arduino pin for PWM signal for left MOTOR1
#define SpeedEncoL 18 //Interrupted input of WYC H206, short wire ENCODER
#define SpeedEncoR 19 //Interrupted input of WYC H206, long wire ENCODER
#define ledRedPin 44 //PWM pin for this colour 3 color LED
#define ledGrePin 46 //PWM pin for this colour 3 color LED
#define ledBluPin 45 //PWM pin for this colour 3 color LED
#define bat0pin A0 //H=1/3 for 9Vdc battery, yellow VOLTAGE DIVIDER1
#define bat1pin A1 //H=1/2 for 6Vdc pack, orange VOLTAGE DIVIDER2
#define BIA 5 //Define which pin connects to pin B-IA green PWM MOTOR
#define BIB 6 //Define which pin connects to pin B-IB blue PWM MOTOR
#define AIA 10 //Define which pin connects to pin A-IA orange PWM MOTOR
#define AIB 11 //Define which pin connects to pin A-IB yellow PWM MOTOR
// Define motor shield settings ----------------------------------------------
#define MOTORLATCH 12 //Arduino pins for the shift register MOTORSHIELD
#define MOTORCLK 4 //of the enigines MOTORSHIELD
#define MOTORENABLE 7
#define MOTORDATA 8
#define MOTOR1_A 3 //These are used to set the direction of the bridge driver
#define MOTOR1_B 2 //These pins are not Arduino pins, but pins on motorshield
#define MOTOR2_A 1 //Forward and backward settings can be changed here
#define MOTOR2_B 4 //8-bit bus after the 74HC595 shift register
#define FORWARD 1 //Translation table for the motor functions
#define BACKWARD 2
#define BRAKE 3
#define RELEASE 4
// Include the needed header files for the precompiler, no charge if not used-
#include <IRremote.h> //Never use the IDE default but replace it IR RECEIVER
//#include <TimerOne.h> //Needed for reading wheel speed ENCODER
//#include <Wire.h> //Needed for all TWI bricks like SRF10 or Gyro GY521
// Define user settings --------------------------------------------------------
byte alarmVdc0 = 75; //Powerstate will be set to LOW by 9 Vdc battery
byte alarmVdc1 = 50; //Powerstate will be set to LOW by 6.0 pack
// Define variables ------------------------------------------------------------
bool ledOnBoardVal = LOW; //You choose HIGH-on or LOW-off for LED_BUILTIN
//byte twiAdr = 0xE1; //This is the new TWI-address of the connected SRF 10
//byte twiSR1 = 113; //The default address in the datasheet is 224=0xE0
// We seem to must perform a ROR NC on the real address b4 the library reacts ok
// but i2c adressing uses the high 7 bits so it's 112
//So 3 flashes means 0xE6 = 230 / 2 = 115
//This is a rather bad way to avoid ANDs for read/write
bool flagActive = false; //Has a TV remote key been pressed
bool brainMounted = false; //Default say there is no brain mounted
bool powerState = HIGH; //Assuming that the batteries are charged enough
word cntrL = 0; //Define left wheel counter per second
word cntrR = 0; //Define right wheel counter per second
byte Red = 100; //Brightness of this Color, set by PWM 0=min 255=max
byte Gre = 0; //Brightness of this Color, set by PWM 0=min 255=max
byte Blu = 0; //Brightness of this Color, set by PWM 0=min 255=max
word distance = 0; //Distance sonar range finder in cm about
byte cmdEngines = 'D'; //The startup colour and the command to the engines
byte inByte = 0; //For incoming serial data
long bat0Vdc = 0; //Current voltage *10 of H=1/3 divider = 9Vdc battery
long bat1Vdc = 0; //Current voltage *10 of the H=1/2 divider = 6Vdc pack
#ifdef Keyes //IR Remote Control Keyes
const long butRP = 4294967295UL; //Any button is continously pressed, REPEAT
const long butUp = 16736925UL; //Blue up arrow button, FORWARD
const long butDn = 16754775UL; //Blue down arrow button, BACK
const long butLf = 16720605UL; //Blue left arrow button, LEFT
const long butRt = 16761405UL; //Blue right arrow button, RIGHT
const long butOk = 16712445UL; //Red OK button, DISENGAGE
const long butMp = 16728765UL; //Red * (multiply) button, DISENGAGE
const long butNr = 16732845UL; //Red # (number) button, DISENGAGE
const long but0 = 16730805UL; //White 0 button, run program 0
const long but1 = 16738455UL; //White 1 button, run program 1
const long but2 = 16750695UL; //White 2 button, run program 2
const long but3 = 16756815UL; //White 3 button, run program 3
const long but4 = 16724175UL; //White 4 button, run program 4
const long but5 = 16718055UL; //White 5 button, run program 5
const long but6 = 16743045UL; //White 6 button, run program 6
const long but7 = 16716015UL; //White 7 button, run program 7
const long but8 = 16726215UL; //White 8 button, run program 8
const long but9 = 16734885UL; //White 9 button, run program 9
#endif //End of #ifdef Keyes IR Remote Control Keyes
#ifdef Provision //IR Remote Control Provision
const long butRP = 4294967295UL; //Any button is continously pressed, REPEAT
const long butUp = 2645382921UL; //Blue up arrow button, FORWARD
const long butDn = 1510218204UL; //Blue down arrow button, BACK
const long butLf = 1044084000UL; //Blue left arrow button, LEFT
const long butRt = 341443957UL; //Blue right arrow button, RIGHT
const long butOk = 2090285130UL; //Blue OK button, DISENGAGE
const long butMp = 4198925182UL; //Black -/-- (double) button, DISENGAGE
const long butNr = 3255896299UL; //Black AV button, DISENGAGE
const long but0 = 4251643239UL; //Black 0 button, run program 0
const long but1 = 2005671744UL; //Black 1 button, run program 1
const long but2 = 3075690975UL; //Black 2 button, run program 2
const long but3 = 1079910150UL; //Black 3 button, run program 3
const long but4 = 771752011UL; //Black 4 button, run program 4
const long but5 = 613775946UL; //Black 5 button, run program 5
const long but6 = 305207297UL; //Black 6 button, run program 6
const long but7 = 3916687738UL; //Black 7 button, run program 7
const long but8 = 2229941719UL; //Black 8 button, run program 8
const long but9 = 2280455024UL; //Black 9 button, run program 9
#endif //End of #ifdef Provision IR Remote Control Provision
//END OF PRECOMPILER OPTIONS ---------------------------------------------------
IRrecv irrecv(RECV_PIN); //Initialise interrupt pin IR receiver
decode_results results; //If something IR received, translate it into keynumber
void setup() { //Setup runs once ***********************************************
disable_jtag(); //Disable to free port C, enabled by default JTAG
#ifdef RS232 //Only include this part if the variable has been defined
Serial.begin(9600); //Nothing more needed for the Serial Monitor to function
#endif //End of Serial not compiled if precompiler variable was not set
setBrainMounted(); //Set to true (green A8-14 not connected) or false
if (brainMounted) { //Meaning the serial port is connected
Serial3.begin(9600); //Nothing more needed for serial connection to function
}
//Wire.begin(); //Start i2c bus, no address to be master
pinMode(LED_BUILTIN, OUTPUT); //Arduino boards contain an onboard LED_BUILTIN
pinMode(buzActPin, OUTPUT); //KY-006 buzzer pin
pinMode(ledRedPin, OUTPUT); //Make the LED connections output pins
pinMode(ledGrePin, OUTPUT); //Make the LED connections output pins
pinMode(ledBluPin, OUTPUT); //Make the LED connections output pins
pinMode(SpeedEncoL, INPUT_PULLUP); //Interrupted input speed encoder WYC H206
pinMode(SpeedEncoR, INPUT_PULLUP); //Interrupted input speed encoder WYC H206
analogReference(DEFAULT); //Accurate enough for Battery Monitor
irrecv.enableIRIn(); // Start the IR receiver
//Timer1.initialize(100000); //This timer will create an interrupt every 10 s
//Timer1.attachInterrupt( timerIsr ); //Start the timer
//attachInterrupt(2, docntrL, RISING); //Increase left cntr on any change
//attachInterrupt(3, docntrR, FALLING); //Increase right cntr on any change
//toggle_ledBin(); //Show we are awake
beep(50); //Create a beep (x5ms) with KY-012 active BUZZER
}//--(end setup )---------------------------------------------------------------
void loop() { //KEEP ON RUNNING THIS LOOP FOREVER ******************************
ledOnBoardVal = digitalRead(SpeedEncoR); //Read WYC H206
digitalWrite(LED_BUILTIN, ledOnBoardVal); //Set Arduino boards onboard LED
checkPower6Vdc(); //Set battery powerState HIGH or LOW according to readings
if (brainMounted) { //Meaning the serial port is connected
//readSerial3Input(); //Receive and proces data from Brains
} //End of if (brainMounted) Data has been exchanged if a brain was mounted
#ifdef RS232 //Only include this part if the variable has been defined
readSerialInput(); //Receives and processes data from the Serial Monitor
#endif //End of Serial not compiled if precompiler variable was not set
readIRreceiver(); //Receives data from the IR remote control
writeActuators(); //Performs the robot actions according to the inputs
delay(100); //Needed for IR receiver Wait milliseconds, TIME TO SPARE
#ifdef RS232 //Only include this part if the variable has been defined
//show_testdata(); //Data for programmer at the Serial Monitor
#endif //End of Serial not compiled if precompiler variable was not set
//toggle_ledBin(); //Toggles the default on-board LED on or off
} //End of void loop() //KEEP ON RUNNING THIS LOOP FOREVER
//345678911234567892123456789312345678941234567895123456789612345678971234567898
void checkPower6Vdc() { //Set battery powerState HIGH or LOW according readings
bat0Vdc = analogRead(bat0pin); //Read voltage H=1/3 divider = 9Vdc battery
bat0Vdc = bat0Vdc * 15 / 102; //Recalculate in a Vdc
bat1Vdc = analogRead(bat1pin); //Read value H=1/2 divider = 6Vdc pack
bat1Vdc = bat1Vdc * 10 / 102; //Recalculate in a Vdc
if (bat0Vdc > 40) { //Meaning batteries are switched on
if (bat0Vdc < alarmVdc0) { //If the voltage drops below the alarm level
powerState = LOW; //Set that we need to recharge and that we will do so
beep(200); //Create a beep (x5ms) with KY-012 active BUZZER
} //End of If the voltage is below the alarm level
if (bat1Vdc < alarmVdc1) { //If the voltage drops below the alarm level
powerState = LOW; //Set that we need to recharge and that we will do so
beep(200); //Create a beep (x5ms) with KY-012 active BUZZER
} //End of If the voltage is below the alarm level
} //End of Meaning batteries are switched on
} //Exit checkPower, set powerState to HIGH or LOW according to readings DONE --
//void forward(byte speeds, byte speedb) { //Both engines (0-255) DRIVE FORWARD **
//void left(byte speeds, byte speedb) { //Drive (0-255) engines TURN LEFT ********
//void backward(byte speeds, byte speedb) { //Both engines (0-255) DRIVE BACKWARD
//void right(byte speeds, byte speedb) { //Drive (0-255) engines TURN RIGHT ******
//void halt() { //Stop all engine movements MOTORS *******************************
void beep(uint8_t ms) { //Create a beep (x5ms) with KY-012 active BUZZER **
digitalWrite(buzActPin,HIGH); //Turn on BUZZER
while (ms > 0){ //Timer of the duration of the beep BUZZER
delay(5); //Wait milliseconds BUZZER
ms--; //Countdown untill we reached zero BUZZER
} //Timer of the duration has been counted down to zero BUZZER
digitalWrite(buzActPin,LOW); //Turn annoying sound off BUZZER
} //Exit beep ------------------------------------------------------------------
void toggle_ledOnBoard(void){ //Toggles LED_BUILTIN on-board ON or OFF LED *****
ledOnBoardVal = !ledOnBoardVal; //Toggle value LED
digitalWrite(LED_BUILTIN, ledOnBoardVal); //Set Arduino boards onboard LED
} //Exit toggle_ledOnBoard -----------------------------------------------------
void disable_jtag(void) { //Disable to free port C, enabled by default JTAG ****
#if defined(JTD) //Not all AVR controller include JTAG
MCUCR |= ( 1 << JTD ); //Write twice to disable JTAG
MCUCR |= ( 1 << JTD ); //So stutter once JTAG
#endif //End of conditional compiling JTAG
} //Exit jtag_disable ----------------------------------------------------------
*/
////////////////////////////////////////////////////////////////////////////////
// PIN ALLOCATIONS TABLE ARDUINO MEGA 2560 //
// Board -Atmel- PIN - IDE - Function - External Connection FUNC //
// //
// CONNECTIONS RAILS TOP LEFT: DIGITAL PWM<~> ******************************* //
//? SCL - 28 - PC5 -19/A5- ADC5/SCL/PCINT13 - TWI //
//? SDA - 27 - PC4 -18/A4- ADC4/SDA/PCINT12 - TWI //
// AREF - 31 - REF - - AREF - REF //
// GND - 32 - GND - - GND - GND //
// 13 PWM - 26 - PB7 - 13 - OC0A/OC1C/PCINT17 - LED Arduino LED_BUILTIN PWM //
// 12 PWM - 18 - PB6 - 12 - OC1B/PCINT16 - Motorshield PWM //
// 11 PWM - 17 - PB3 - 11 - MOSI/OC2A/PCINT3 - Motorshield PWM //
// 10 PWM - 16 - PB2 - 10 - SS/OC1B/PCINT2 - Motorshield PWM //
// 9 PWM - 15 - PB1 - 9 - OC1A/PCINT1 - Motorshield PWM //
// 8 PWM - 14 - PB0 - 8 - PCINT0/CLK0/ICP1 - Motorshield DIO //
// //
// CONNECTIONS RAILS TOP MIDDLE: DIGITAL PWM<~> ***************************** //
// 7 PWM - 13 - PD7 - 7 - PCINT23/AIN1 - Motorshield PWM //
// 6 PWM - 12 - PD6 - 6 - PCINT22/OCA0/AIN0 - Motorshield M4 => FREE PWM //
// 5 PWM - 11 - PD5 - 5 - PCINT21/OC0B/T1 - Motorshield M3=> Buzzer PWM //
// 4 PWM - 6 - PD4 - 4 - PCINT20/XCK/T0 - Motorshield PWM //
// 3 PWM - 5 - PD3 - 3 - PCINT19/OC2B/INT1 - Motorshield PWM //
// 2 PWM - 4 - PD2 - 2 - PCINT18/INT0 - IR TV remote receiver INT //
// 1 TX0 - 3 - PD1 - 1 - PCINT17/TXD - Serial monitor TX0 //
// 0 RX0 - 2 - PD0 - 0 - PCINT16/RCD - Serial Monitor RC0 //
// //
// CONNECTIONS RAILS TOP RIGHT: DIGITAL PWM<~> ****************************** //
// 14 TX3 - 13 - PD7 - 7 - PCINT23/AIN1 - DIO //
// 15 RX3 - 12 - PD6 - 6 - PCINT22/OCA0/AIN0 - PWM //
// 16 TX2 - 11 - PD5 - 5 - PCINT21/OC0B/T1 - Brains RX1 Yellow TX2 //
// 17 RX2 - 6 - PD4 - 4 - PCINT20/XCK/T0 - Brains TX1 Blue RX2 //
// 18 TX1 - 5 - PD3 - 3 - PCINT19/OC2B/INT1 - Speed encoder Right INT //
// 19 RX1 - 4 - PD2 - 2 - PCINT18/INT0 - Speed encoder Left INT //
// 20 SDA - 3 - PD1 - 1 - PCINT17/TXD - SDA Yellow SRF10 SDA //
// 21 SCL - 2 - PD0 - 0 - PCINT16/RCD - SCL White SRF10 SCL //
// //
// CONNECTIONS RAILS BOTTOM LEFT: POWER ************************************* //
// 5V - 7 - VCC - - VCC - VCC //
// RES - 1 - RES - - PCINT14/RESET - RES //
// 3.3V - - - - - //
// 5V - - - - - //
// GND - - - - - //
// GND - - - - - //
// Vin - - - - - //
// //
// CONNECTIONS RAILS BOTTOM CENTER: ANALOG IN ******************************* //
// A0 - 23 - PC0 -A0/14- ADC0/PCINT8 - ADC //
// A1 - 24 - PC1 -A1/15- ADC1/PCINT9 - ADC //
// A2 - 25 - PC2 -A2/16- ADC2/PCINT10 - ADC //
// A3 - 26 - PC3 -A3/17- ADC3/PCINT12 - ADC //
// A4 - 27 - PC4 -A4/18- ADC4/SDA/PCINT12 - TWI //
// A5 - 28 - PC5 -A5/19- ADC5/SCL/PCINT13 - TWI //
// //
// CONNECTIONS RAILS BOTTOM RIGHT: ANALOG IN ******************************** //
// A11 - 89 - PK0 - - ADC1 4/PCINT? - ADC //
// A12 = 88 = PK1 ADC15/PCINT? = ADC //
// A13 = 87 = PK2 ADC14/PCINT? = IR line follow OUT1 ADC //
// A15 = 86 = PK3 ADC15/PCINT? = IR line follow OUT2 ADC //
// A12 = 85 = PK4 ADC14/PCINT? = IR line follow OUT3 ADC //
// A13 = 84 = PK5 ADC15/PCINT? = IR line follow OUT4 ADC //
// A14 = 83 = PK6 ADC14/PCINT22 = Battery monitor H=1/2 6Vdc pack ADC //
// A15 = 82 = PK7 ADC15/PCINT23 = Battery monitor H=1/3 9Vdc battery ADC //
// //
// CONNECTIONS RAILS QUER RIGHT ********************************************* //
// 44 = 40 = PL5 OC5C = 3 Color led Blue PWM //
// 45 = 39 = PL4 OC5B = 3 Color led Red PWM //
// 46 = 38 = PL3 OC5A = 3 Color led Green PWM //
// 50 = 22 = PB3 MISO/PCINT3 = SPI //
// 51 = 21 = PB2 MOSI/PCINT2 = SPI //
// 52 = 20 = PB1 SCK/PCINT1 = SPI //
// 53 = 19 = PB1 SS/PCINT0 = SPI //
////////////////////////////////////////////////////////////////////////////////
//345678911234567892123456789312345678941234567895123456789612345678971234567898
// EEPROM MEMORY MAP: //
// Start End Number Description //
// 0000 0000 1 Never use this memory location to be AVR compatible //
////////////////////////////////////////////////////////////////////////////////
//345678911234567892123456789312345678941234567895123456789612345678971234567898
////////////////////////////////////////////////////////////////////////////////
// FUSES (can always be altered by using the STK500) //
// On-Chip Debug Enabled: off (OCDEN=0) //
// JTAG Interface Enabled: off (JTAGEN=0) //
// Preserve EEPROM mem through the Chip Erase cycle: On (EESAVE = 0) //
// Boot Flash section = 2048 words, Boot startaddr=$3800 (BOOTSZ=00) //
// Boot Reset vector Enabled, default address=$0000 (BOOTSTR=0) //
// CKOPT fuse (operation dependent of CKSEL fuses (CKOPT=0) //
// Brown-out detection level at VCC=2,7V; (BODLEVEL=1) //
// Ext. Cr/Res High Freq.; Start-up time: 16K CK + 64 ms (CKSEL=1111 SUT=11) //
// LOCKBITS (are dangerous to change, since they cannot be reset) //
// Mode 1: No memory lock features enabled //
// Application Protect Mode 1: No lock on SPM and LPM in Application Section //
// Boot Loader Protect Mode 1: No lock on SPM and LPM in Boot Loader Section //
////////////////////////////////////////////////////////////////////////////////