#include
#include
/*
* Now we create a new LedControl.
* We use pins 12,11 and 10 on the Arduino for the SPI interface
* Pin 12 is connected to the DATA IN-pin of the first MAX7221
* Pin 11 is connected to the CLK-pin of the first MAX7221
* Pin 10 is connected to the LOAD(/CS)-pin of the first MAX7221
* There will only be a single MAX7221 attached to the arduino
*/
//Pin definitions
const int LED_WHITE=13;
const int LED_YELLOW=A0;
const int LED_GREEN=A1;
const int LED_CLOCK=7; //white
const int LED_CS=6; //black
const int LED_DIN=5; //purple
const int DETECT_ON_SWITCH=3;
const int MOTION_DETECT=2;
const int SPEED_POT=A2;
const int LASER_DETECT=A3;
int _maxSpeed=0;
int _curSpeed=0;
int _targetSpeed=0;
bool _changingSpeed=false;
bool _accelerate=false;
bool _declerate=false;
unsigned long _lastOnTime;
const long RUN_TIME=50000;
const int STALL_SPEED=2;
bool _detectOff=false;
bool _blink=false;
LedControl _lc1=LedControl(LED_DIN,LED_CLOCK,LED_CS,1);
AF_DCMotor _motor(1, MOTOR12_1KHZ);
/* CharData is a two dimensional constant array that holds the 8-bit column values of
individual rows for ASCII characters that are to be displayed on a 8x8 matrix format.
*/
const unsigned short _CharData[][8] ={
//{0b00000000, 0b00000000, 0b00000000, 0b00000000, 0b00000000, 0b00000000, 0b00000000, 0b00000000},
//{0b00000100, 0b00000100, 0b00000100, 0b00000100, 0b00000100, 0b00000100, 0b00000000, 0b00000100},
//{0b00001010, 0b00001010, 0b00001010, 0b00000000, 0b00000000, 0b00000000, 0b00000000, 0b00000000},
//{0b00000000, 0b00001010, 0b00011111, 0b00001010, 0b00011111, 0b00001010, 0b00011111, 0b00001010},
//{0b00000111, 0b00001100, 0b00010100, 0b00001100, 0b00000110, 0b00000101, 0b00000110, 0b00011100},
//{0b00011001, 0b00011010, 0b00000010, 0b00000100, 0b00000100, 0b00001000, 0b00001011, 0b00010011},
//{0b00000110, 0b00001010, 0b00010010, 0b00010100, 0b00001001, 0b00010110, 0b00010110, 0b00001001},
//{0b00000100, 0b00000100, 0b00000100, 0b00000000, 0b00000000, 0b00000000, 0b00000000, 0b00000000},
//{0b00000010, 0b00000100, 0b00001000, 0b00001000, 0b00001000, 0b00001000, 0b00000100, 0b00000010},
//{0b00001000, 0b00000100, 0b00000010, 0b00000010, 0b00000010, 0b00000010, 0b00000100, 0b00001000},
//{0b00010101, 0b00001110, 0b00011111, 0b00001110, 0b00010101, 0b00000000, 0b00000000, 0b00000000},
//{0b00000000, 0b00000000, 0b00000100, 0b00000100, 0b00011111, 0b00000100, 0b00000100, 0b00000000},
//{0b00000000, 0b00000000, 0b00000000, 0b00000000, 0b00000000, 0b00000110, 0b00000100, 0b00001000},
//{0b00000000, 0b00000000, 0b00000000, 0b00000000, 0b00001110, 0b00000000, 0b00000000, 0b00000000},
//{0b00000000, 0b00000000, 0b00000000, 0b00000000, 0b00000000, 0b00000000, 0b00000000, 0b00000100},
//{0b00000001, 0b00000010, 0b00000010, 0b00000100, 0b00000100, 0b00001000, 0b00001000, 0b00010000},
{0b00001110, 0b00010001, 0b00010011, 0b00010001, 0b00010101, 0b00010001, 0b00011001, 0b00001110}, //0
{0b00000100, 0b00001100, 0b00010100, 0b00000100, 0b00000100, 0b00000100, 0b00000100, 0b00011111}, //1
{0b00001110, 0b00010001, 0b00010001, 0b00000010, 0b00000100, 0b00001000, 0b00010000, 0b00011111}, //2
{0b00001110, 0b00010001, 0b00000001, 0b00001110, 0b00000001, 0b00000001, 0b00010001, 0b00001110}, //3
{0b00010000, 0b00010000, 0b00010100, 0b00010100, 0b00011111, 0b00000100, 0b00000100, 0b00000100}, //4
{0b00011111, 0b00010000, 0b00010000, 0b00011110, 0b00000001, 0b00000001, 0b00000001, 0b00011110}, //5
{0b00000111, 0b00001000, 0b00010000, 0b00011110, 0b00010001, 0b00010001, 0b00010001, 0b00001110}, //6
{0b00011111, 0b00000001, 0b00000001, 0b00000001, 0b00000010, 0b00000100, 0b00001000, 0b00010000}, //7
{0b00001110, 0b00010001, 0b00010001, 0b00001110, 0b00010001, 0b00010001, 0b00010001, 0b00001110}, //8
{0b00001110, 0b00010001, 0b00010001, 0b00001111, 0b00000001, 0b00000001, 0b00000001, 0b00000001}, //9
// {0b00000000, 0b00000100, 0b00000100, 0b00000000, 0b00000000, 0b00000100, 0b00000100, 0b00000000},
// {0b00000000, 0b00000100, 0b00000100, 0b00000000, 0b00000000, 0b00000100, 0b00000100, 0b00001000},
// {0b00000001, 0b00000010, 0b00000100, 0b00001000, 0b00001000, 0b00000100, 0b00000010, 0b00000001},
// {0b00000000, 0b00000000, 0b00000000, 0b00011110, 0b00000000, 0b00011110, 0b00000000, 0b00000000},
// {0b00010000, 0b00001000, 0b00000100, 0b00000010, 0b00000010, 0b00000100, 0b00001000, 0b00010000},
// {0b00001110, 0b00010001, 0b00010001, 0b00000010, 0b00000100, 0b00000100, 0b00000000, 0b00000100},
// {0b00001110, 0b00010001, 0b00010001, 0b00010101, 0b00010101, 0b00010001, 0b00010001, 0b00011110},
// {0b00001110, 0b00010001, 0b00010001, 0b00010001, 0b00011111, 0b00010001, 0b00010001, 0b00010001},
// {0b00011110, 0b00010001, 0b00010001, 0b00011110, 0b00010001, 0b00010001, 0b00010001, 0b00011110},
// {0b00000111, 0b00001000, 0b00010000, 0b00010000, 0b00010000, 0b00010000, 0b00001000, 0b00000111},
// {0b00011100, 0b00010010, 0b00010001, 0b00010001, 0b00010001, 0b00010001, 0b00010010, 0b00011100},
// {0b00011111, 0b00010000, 0b00010000, 0b00011110, 0b00010000, 0b00010000, 0b00010000, 0b00011111},
// {0b00011111, 0b00010000, 0b00010000, 0b00011110, 0b00010000, 0b00010000, 0b00010000, 0b00010000},
// {0b00001110, 0b00010001, 0b00010000, 0b00010000, 0b00010111, 0b00010001, 0b00010001, 0b00001110},
// {0b00010001, 0b00010001, 0b00010001, 0b00011111, 0b00010001, 0b00010001, 0b00010001, 0b00010001},
// {0b00011111, 0b00000100, 0b00000100, 0b00000100, 0b00000100, 0b00000100, 0b00000100, 0b00011111},
// {0b00011111, 0b00000100, 0b00000100, 0b00000100, 0b00000100, 0b00000100, 0b00010100, 0b00001000},
// {0b00010001, 0b00010010, 0b00010100, 0b00011000, 0b00010100, 0b00010010, 0b00010001, 0b00010001},
// {0b00010000, 0b00010000, 0b00010000, 0b00010000, 0b00010000, 0b00010000, 0b00010000, 0b00011111},
// {0b00010001, 0b00011011, 0b00011111, 0b00010101, 0b00010001, 0b00010001, 0b00010001, 0b00010001},
// {0b00010001, 0b00011001, 0b00011001, 0b00010101, 0b00010101, 0b00010011, 0b00010011, 0b00010001},
// {0b00001110, 0b00010001, 0b00010001, 0b00010001, 0b00010001, 0b00010001, 0b00010001, 0b00001110},
// {0b00011110, 0b00010001, 0b00010001, 0b00011110, 0b00010000, 0b00010000, 0b00010000, 0b00010000},
// {0b00001110, 0b00010001, 0b00010001, 0b00010001, 0b00010001, 0b00010101, 0b00010011, 0b00001111},
// {0b00011110, 0b00010001, 0b00010001, 0b00011110, 0b00010100, 0b00010010, 0b00010001, 0b00010001},
// {0b00001110, 0b00010001, 0b00010000, 0b00001000, 0b00000110, 0b00000001, 0b00010001, 0b00001110},
// {0b00011111, 0b00000100, 0b00000100, 0b00000100, 0b00000100, 0b00000100, 0b00000100, 0b00000100},
// {0b00010001, 0b00010001, 0b00010001, 0b00010001, 0b00010001, 0b00010001, 0b00010001, 0b00001110},
// {0b00010001, 0b00010001, 0b00010001, 0b00010001, 0b00010001, 0b00010001, 0b00001010, 0b00000100},
// {0b00010001, 0b00010001, 0b00010001, 0b00010001, 0b00010001, 0b00010101, 0b00010101, 0b00001010},
// {0b00010001, 0b00010001, 0b00001010, 0b00000100, 0b00000100, 0b00001010, 0b00010001, 0b00010001},
// {0b00010001, 0b00010001, 0b00001010, 0b00000100, 0b00000100, 0b00000100, 0b00000100, 0b00000100},
// {0b00011111, 0b00000001, 0b00000010, 0b00000100, 0b00001000, 0b00010000, 0b00010000, 0b00011111},
// {0b00001110, 0b00001000, 0b00001000, 0b00001000, 0b00001000, 0b00001000, 0b00001000, 0b00001110},
// {0b00010000, 0b00001000, 0b00001000, 0b00000100, 0b00000100, 0b00000010, 0b00000010, 0b00000001},
// {0b00001110, 0b00000010, 0b00000010, 0b00000010, 0b00000010, 0b00000010, 0b00000010, 0b00001110},
// {0b00000100, 0b00001010, 0b00010001, 0b00000000, 0b00000000, 0b00000000, 0b00000000, 0b00000000},
// {0b00000000, 0b00000000, 0b00000000, 0b00000000, 0b00000000, 0b00000000, 0b00000000, 0b00011111},
// {0b00001000, 0b00000100, 0b00000000, 0b00000000, 0b00000000, 0b00000000, 0b00000000, 0b00000000},
// {0b00000000, 0b00000000, 0b00000000, 0b00001110, 0b00010010, 0b00010010, 0b00010010, 0b00001111},
// {0b00000000, 0b00010000, 0b00010000, 0b00010000, 0b00011100, 0b00010010, 0b00010010, 0b00011100},
// {0b00000000, 0b00000000, 0b00000000, 0b00001110, 0b00010000, 0b00010000, 0b00010000, 0b00001110},
// {0b00000000, 0b00000001, 0b00000001, 0b00000001, 0b00000111, 0b00001001, 0b00001001, 0b00000111},
// {0b00000000, 0b00000000, 0b00000000, 0b00011100, 0b00010010, 0b00011110, 0b00010000, 0b00001110},
// {0b00000000, 0b00000011, 0b00000100, 0b00000100, 0b00000110, 0b00000100, 0b00000100, 0b00000100},
// {0b00000000, 0b00001110, 0b00001010, 0b00001010, 0b00001110, 0b00000010, 0b00000010, 0b00001100},
// {0b00000000, 0b00010000, 0b00010000, 0b00010000, 0b00011100, 0b00010010, 0b00010010, 0b00010010},
// {0b00000000, 0b00000000, 0b00000100, 0b00000000, 0b00000100, 0b00000100, 0b00000100, 0b00000100},
// {0b00000000, 0b00000010, 0b00000000, 0b00000010, 0b00000010, 0b00000010, 0b00000010, 0b00001100},
// {0b00000000, 0b00010000, 0b00010000, 0b00010100, 0b00011000, 0b00011000, 0b00010100, 0b00010000},
// {0b00000000, 0b00010000, 0b00010000, 0b00010000, 0b00010000, 0b00010000, 0b00010000, 0b00001100},
// {0b00000000, 0b00000000, 0b00000000, 0b00001010, 0b00010101, 0b00010001, 0b00010001, 0b00010001},
// {0b00000000, 0b00000000, 0b00000000, 0b00010100, 0b00011010, 0b00010010, 0b00010010, 0b00010010},
// {0b00000000, 0b00000000, 0b00000000, 0b00001100, 0b00010010, 0b00010010, 0b00010010, 0b00001100},
// {0b00000000, 0b00011100, 0b00010010, 0b00010010, 0b00011100, 0b00010000, 0b00010000, 0b00010000},
// {0b00000000, 0b00001110, 0b00010010, 0b00010010, 0b00001110, 0b00000010, 0b00000010, 0b00000001},
// {0b00000000, 0b00000000, 0b00000000, 0b00001010, 0b00001100, 0b00001000, 0b00001000, 0b00001000},
// {0b00000000, 0b00000000, 0b00001110, 0b00010000, 0b00001000, 0b00000100, 0b00000010, 0b00011110},
// {0b00000000, 0b00010000, 0b00010000, 0b00011100, 0b00010000, 0b00010000, 0b00010000, 0b00001100},
// {0b00000000, 0b00000000, 0b00000000, 0b00010010, 0b00010010, 0b00010010, 0b00010010, 0b00001100},
// {0b00000000, 0b00000000, 0b00000000, 0b00010001, 0b00010001, 0b00010001, 0b00001010, 0b00000100},
// {0b00000000, 0b00000000, 0b00000000, 0b00010001, 0b00010001, 0b00010001, 0b00010101, 0b00001010},
// {0b00000000, 0b00000000, 0b00000000, 0b00010001, 0b00001010, 0b00000100, 0b00001010, 0b00010001},
// {0b00000000, 0b00000000, 0b00010001, 0b00001010, 0b00000100, 0b00001000, 0b00001000, 0b00010000},
// {0b00000000, 0b00000000, 0b00000000, 0b00011111, 0b00000010, 0b00000100, 0b00001000, 0b00011111},
// {0b00000010, 0b00000100, 0b00000100, 0b00000100, 0b00001000, 0b00000100, 0b00000100, 0b00000010},
// {0b00000100, 0b00000100, 0b00000100, 0b00000100, 0b00000100, 0b00000100, 0b00000100, 0b00000100},
// {0b00001000, 0b00000100, 0b00000100, 0b00000100, 0b00000010, 0b00000100, 0b00000100, 0b00001000},
{0b00000000, 0b00000000, 0b00000000, 0b00001010, 0b00011110, 0b00010100, 0b00000000, 0b00000000}
};
void setup() {
//Initiate Serial communication.
Serial.begin(9600);
// put your setup code here, to run once:
pinMode(LED_DIN,OUTPUT);
pinMode(LED_CLOCK,OUTPUT);
pinMode(LED_CS,OUTPUT);
pinMode(LED_WHITE,OUTPUT);
pinMode(LED_YELLOW,OUTPUT);
pinMode(LED_GREEN,OUTPUT);
pinMode(DETECT_ON_SWITCH,INPUT);
pinMode(MOTION_DETECT,INPUT);
pinMode(SPEED_POT,INPUT);
pinMode(LASER_DETECT,INPUT);
_motor.setSpeed(255);
_motor.run(FORWARD);
}
/*
* If the human dectector is activated, we want the train to slowly accelerate to the set max speed.
* If the designated time goes by with the human detector not activated, we want to slowly decelerate to 2 (if max speed > 2)
* If designated time has gone by and speed is at 2, and laser is activated then train should immediately stop.
*
*/
void loop() {
// clear max speed led, as we want it to flash
_lc1.shutdown(0,false);
_lc1.setIntensity(0,8);
_lc1.clearDisplay(0);
delay(1000);
//read and set max speed led
SetMaxSpeed();
//run switch bypasses human detector. If run switch is on, train should run at max speed until manually turned off.
bool runSwitchOn=RunSwitchOn();
if (runSwitchOn)
{
_targetSpeed=_maxSpeed;
if (_curSpeed<_maxSpeed) { _accelerate=true; _declerate=false; _changingSpeed=true; } else if (_curSpeed>_maxSpeed)
{
_declerate=true;
_accelerate=false;
_changingSpeed=true;
}
else
{
_declerate=false;
_accelerate=false;
_changingSpeed=false;
}
}
else
{
bool humanDetected=HumanDetected();
bool laserActivated=LaserActivated();
bool timeoutExpired=(millis()-_lastOnTime)>RUN_TIME;
if (humanDetected)
{
_lastOnTime=millis();
if (_curSpeed<_maxSpeed) { _accelerate=true; _declerate=false; _changingSpeed=true; } else if (_curSpeed>_maxSpeed)
{
_declerate=true;
_accelerate=false;
_changingSpeed=true;
}
else
{
_declerate=false;
_accelerate=false;
_changingSpeed=false;
}
}
else if (timeoutExpired)
{
if (_curSpeed>STALL_SPEED)
{
_declerate=true;
_accelerate=false;
_changingSpeed=true;
} else if (laserActivated)
{
_curSpeed=0;
_declerate=false;
_accelerate=false;
_changingSpeed=false;
}
else
{
_declerate=false;
_accelerate=false;
_changingSpeed=false;
}
}
}
if (_changingSpeed)
{
if (_accelerate)
{
//speed up
_curSpeed++;
if (_curSpeed>_maxSpeed) _curSpeed=_maxSpeed;
}
else if (_declerate)
{
//slow down
_curSpeed--;
if (_curSpeed<STALL_SPEED) _curSpeed=STALL_SPEED; } if (_curSpeed>0)
{
StartMotor(_curSpeed);
_motor.run(FORWARD);
Serial.println("motor on");
digitalWrite(LED_GREEN,HIGH);
}
}
else if (_curSpeed==0)
{
_motor.run(RELEASE);
Serial.println("motor off");
digitalWrite(LED_GREEN,LOW);
}
ShowUI();
delay(1000);
}
void ShowUI()
{
ShowNumber(_curSpeed);
if (_detectOff)
{
if (_blink)
{
digitalWrite(LED_WHITE,LOW);
digitalWrite(LED_YELLOW,LOW);
digitalWrite(LED_GREEN,LOW);
}
else
{
digitalWrite(LED_WHITE,HIGH);
digitalWrite(LED_YELLOW,HIGH);
digitalWrite(LED_GREEN,HIGH);
}
_blink=!_blink;
}
}
void SetMaxSpeed()
{
int potval=analogRead(SPEED_POT);
if (potval>931)
_maxSpeed=0;
else if (potval>814)
_maxSpeed=1;
else if (potval>690)
_maxSpeed=2;
else if (potval>616)
_maxSpeed=3;
else if (potval>364)
_maxSpeed=4;
else if (potval>249)
_maxSpeed=5;
else if (potval>126)
_maxSpeed=6;
else if (potval>51)
_maxSpeed=7;
else if (potval>5)
_maxSpeed=8;
else
_maxSpeed=9;
}
bool RunSwitchOn()
{
bool runSwitchActivated=false;
int sensorEnable=digitalRead(DETECT_ON_SWITCH);
if(sensorEnable==1)
{
Serial.println("detect off switch activated");
runSwitchActivated=true;
}
return runSwitchActivated;
}
bool HumanDetected()
{
bool detectOn=false;
_detectOff=false;
Serial.println("detect on switch not activated");
digitalWrite(LED_WHITE,LOW);
int motionDetect=digitalRead(MOTION_DETECT);
if (motionDetect>0)
{
//motion detected.
Serial.println("motion detected");
digitalWrite(LED_WHITE,HIGH);
detectOn=true;
}
return detectOn;
}
bool LaserActivated()
{
bool laserActivated=false;
int laserVal = analogRead(LASER_DETECT); // read the input pin
if (laserVal<600) { //Laser sees something laserActivated=true; digitalWrite(LED_YELLOW,HIGH); Serial.print("laser detected "); Serial.println(laserVal); } else { digitalWrite(LED_YELLOW,LOW); Serial.print("laser not activated "); Serial.println(laserVal); } return laserActivated; } void StartMotor(byte index) { switch(index) { case 0: _motor.setSpeed(0); break; case 1: _motor.setSpeed(85); break; case 2: _motor.setSpeed(106); break; case 3: _motor.setSpeed(127); break; case 4: _motor.setSpeed(148); break; case 5: _motor.setSpeed(170); break; case 6: _motor.setSpeed(191); break; case 7: _motor.setSpeed(212); break; case 8: _motor.setSpeed(233); break; case 9: _motor.setSpeed(255); break; default: _motor.setSpeed(0); break; } Serial.print("set speed "); Serial.println(index); } void ShowNumber(byte val) { if (val>=0 && val<=9)
for (byte row=0;row<8;row++)
_lc1.setRow(0,row,_CharData[val][row]<<2);
else
//unrecognized character
for (byte row=0;row<8;row++)
_lc1.setRow(0,row,_CharData[10][row]<<2);
}
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