////////////////////////////////////////////////////////////////////////////////
// Name: KY-023 //
// Arduino joystick, connections is North, switches 3 relays //
// Platform: Arduino Mega 2560 //
// Created by: HARB, September 2016, GPL copyrights //
// http://robotigs.com/robotigs/includes/parts_header.php?idpart=192 //
// Problem are the waiting times between changes //
////////////////////////////////////////////////////////////////////////////////
// SET PRECOMPILER OPTIONS *****************************************************
// Define precompiler settings and variables------------------------------------
// Define PINS -----------------------------------------------------------------
const int JoyStick_X = A14; //X West-East axis
const int JoyStick_Y = A15; //Y
const int JoyStick_Z = 22; //Switch
const int pinLeRun = 4; //Pin 4 to single relay motor LEFT On/Off, white
const int pinLeDire = 5; //Pin 5 to relay motor LEFT Forward/Backward, yellow
const int pinLeGear = 6; //Pin 6 to double relay LEFT motor Low/High gear, green
//Declare variables ------------------------------------------------------------
bool ledBinVal = LOW; //LED_BUILTIN, you can chose HIGH=on or LOW=off
int x, y, z; //Joystick current readings. Z should be boolean
String motorTarget = "FFFF"; //Direction Joystick=Slow Fast+Forward Backward
bool relLeRunNow = 0; //LEFT wheel single relay On/Off current value, Off=0
bool relLeDireNow = 1; //LEFT wheel dual relay Forw/Backw value now, Forward=1
bool relLeGearNow = 1; //LEFT wheel dual relay Slow/Fast GEAR value now, Slow=1
bool LeRunSet = 0; //LEFT wheel On/Off value to bet set asap, Off=0
bool LeDireSet = 1; //LEFT wheel Forward/Backward value to be set, Forward=1
bool LeGearSet = 1; //LEFT wheel Slow/Fast GEAR value to be set, Slow=1
byte tmp1 = 0; //Used in calculations
byte tmp2 = 0; //Used in calculations
///Define the needed header files for the precompiler, no charge if not used ---
//END OF PRECOMPILER OPTIONS ---------------------------------------------------
void setup() { //Setup runs once ***********************************************
Serial.begin(9600); //Nothing more needed for the Serial Monitor to function
pinMode(LED_BUILTIN, OUTPUT); //Arduino boards contain an onboard LED
digitalWrite(pinLeRun, LeRunSet); //Default OFF=0 pin 4 for On/Off, white
digitalWrite(pinLeDire, LeDireSet); //FORWARD=1 pin 5 Forward/Backward, yellow
digitalWrite(pinLeGear, LeGearSet); //SLOW=1 pin 6 for Low/High gear, green
pinMode(pinLeRun, OUTPUT); //Pin 4 to single relay On/Off, white
pinMode(pinLeDire, OUTPUT); //Pin 5 to double relay Forward/Backward, yellow
pinMode(pinLeGear, OUTPUT); //Pin 6 to double relay Low/High gear, green
pinMode (JoyStick_X, INPUT); //Reads a value between 0 - 1023. Center = 511
pinMode (JoyStick_Y, INPUT); //Reads a value between 0 - 1023. Center = 511
pinMode (JoyStick_Z, INPUT_PULLUP); //Reads push 1=NotPressed 0=Pressed
Serial.println("Relay motor driver controller"); //Hello world
}//--(end setup )---------------------------------------------------------------
void loop() { //KEEP ON RUNNING THIS LOOP FOREVER ******************************
readJoystick(); //Read the user joystick input settings x, y and z
calcMotorsTarget(); //Translate joystick into Slow Fast + Forward Backward
calcMotorsSet(); //What should the engines actually be set to
runMotors(); //Set engines according to above aquiered data
showPropulsion(); //Show the relay settings and joystick data at serial port
delay (100);
} //End of void loop() //KEEP ON RUNNING THIS LOOP FOREVER
void calcMotorsSet(void) { //What should the engines actually be set to do *****
tmp1 = motorTarget.charAt(0); //Extract the first character of the LEFT motor
if (tmp1 == 48) { //48==0 Meaning entire left engine is off
LeRunSet = 0; //LEFT wheel On/Off value, Off=0
LeDireSet = 1; //LEFT wheel Forw/Backw DIRECTION value, Forward=1
LeGearSet = 1; //LEFT wheel Slow/Fast GEAR value, Slow=1
}else{ //Meaning motor must be running, so it must be ON
LeRunSet = 1; //LEFT wheel On/Off value, Off=0
if (tmp1 == 70) { //Set GEAR, 70 means F = Fast
LeGearSet = 0; //LEFT wheel Slow/Fast GEAR value, Slow=1 Fast=0
}else{ //83 means S = Slow
LeGearSet = 1; //LEFT wheel Slow/Fast GEAR value, Slow=1 Fast=0
} //End of if (tmp1 == 70) Setting gear, 70 means F = Fast
tmp2 = motorTarget.charAt(1); //Extract the second character of the left
if (tmp2 == 70) { //Set DIRECTION, 70 means F = Forward
LeDireSet = 1; //FORWARD left wheel direction, Forward=1 Backward=0
}else{ //83 means S = Slow
LeDireSet = 0; //BACKWARD left wheel direction, Forward=1 Backward=0
} //End of if (tmp1 == 70) Setting gear, 70 means F = Fast
} //End of if (tmp1 == 0) Setting relays left engine is done
} //Exit calcMotorsSet ---------------------------------------------------------
void calcMotorsTarget(void) { //Translate joystick into Slow-Fast + Forw-Backw *
if (y < 253){ //Meaning the joystick points North
if (x > 755) { //Meaning the joystick points North-West
motorTarget = "SFFF"; //LEFT wheel Slow Forward, RIGHT wheel Fast Forward
}else{ //Points to the North but not North-West
motorTarget = "FFFF"; //LEFT wheel Fast Forward, RIGHT wheel Fast Forward
} //End of if (x > 755) Meaning the joystick points North-West
} //End of if (y < 253) Meaning the joystick points North
if (y > 252 && y < 756){ //Meaning the joystick centers in North-South axis
if (x > 755) { //Meaning the joystick points Center-West
motorTarget = "SBSF"; //LEFT WHEEL Slow Backward, RIGHT wheel Slow Forward, turn left on the spot !!!!!!!!!!!!!!!!!!!!!!!!!!!bREAK PAUSE
}else{ //All North but Center-West
motorTarget = "0000"; //LEFT WHEEL 00, RIGHT wheel 00 LEFT WHEEL halt
} //End of if (x > 755) Meaning the joystick points North-East
}
if (y > 755){ //Meaning the joystick points South
if (x > 755) { //Meaning the joystick points South-West
motorTarget = "SBSF"; //LEFT WHEEL slow backward
}else{ //All South but South-West
motorTarget = "FBSF"; //LEFT WHEEL fast backward
} //End of if (x > 755) Meaning the joystick points South-West
}
} //Exit calcMotorsTarget,translate Direction and Gear given by Joystick -------
void runMotors(void) { //Set relays according to above aquiered data **********
digitalWrite(pinLeRun, LeRunSet); //Default OFF=0 pin 4 for relay On/Off
digitalWrite(pinLeDire, LeDireSet); //Def FORWARD=1 pin 5 for Forward/Backward
digitalWrite(pinLeGear, LeGearSet); //Default SLOW=1 pin 6 for Slow/Fast gear
relLeRunNow = LeRunSet; //LEFT wheel On/Off value, Off=0
relLeDireNow = LeDireSet; //LEFT wheel Forw/Backw value, Forward=1
relLeGearNow = LeGearSet; //LEFT wheel Slow/Fast GEAR value, Slow=1
LeRunSet = 0; //LEFT wheel Security reset On/Off to Off=0
} //Exit runMotors -------------------------------------------------------------
void toggle_ledBin(void) { //Toggles the default on-board LED on or off ********
ledBinVal = !ledBinVal; //Toggle value
digitalWrite(LED_BUILTIN, ledBinVal); //Set Arduino boards onboard LED
} //Exit toggle_led ------------------------------------------------------------
void readJoystick(void) { //Read the user joystick input x, y and z ************
y = analogRead (JoyStick_X); //Reads a value between 0 - 1023. Center = 511
x = analogRead (JoyStick_Y); //Reads a value between 0 - 1023. Center = 511
z = digitalRead (JoyStick_Z); //Reads push 1=NotPressed 0=Pressed
} //Exit readJoystick ----------------------------------------------------------
void showPropulsion(void) { //Show the relay- and joystick data at serial port *
Serial.print (x, DEC);
Serial.print (",");
Serial.print (y, DEC);
Serial.print (",");
Serial.print (z, DEC);
Serial.print (",");
Serial.print (motorTarget);
Serial.print (",");
Serial.println (tmp1);
} //Exit showPropulsion, show the relay- and joystick data at serial port ------
////////////////////////////////////////////////////////////////////////////////
// PIN ALLOCATIONS TABLE ARDUINO UNO //
// Board -Atmel- PIN - IDE - Function - Connection ALT //
// //
// 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 - 21 - REF - - AREF - //
// GND - 22 - GND - - GND - //
// 13 - 19 - PB5 - 13 - SCK/PCINT5 - Arduino LED_BUILTIN LED SPI //
// 12 - 18 - PB4 - 12 - MISO/PCINT4 - SPI //
// ~11 - 17 - PB3 - 11 - MOSI/OC2A/PCINT3 - PWM //
// ~10 - 16 - PB2 - 10 - SS/OC1B/PCINT2 - PWM //
// ~9 - 15 - PB1 - 9 - OC1A/PCINT1 - PWM //
// 8 - 14 - PB0 - 8 - PCINT0/CLK0/ICP1 - DIO //
// //
// CONNECTIONS RAILS TOP RIGHT: DIGITAL PWM<~> ****************************** //
// 7 - 13 - PD7 - 7 - PCINT23/AIN1 - DIO //
// ~6 - 12 - PD6 - 6 - PCINT22/OCA0/AIN0 - PWM //
// ~5 - 11 - PD5 - 5 - PCINT21/OC0B/T1 - PWM //
// ~4 - 6 - PD4 - 4 - PCINT20/XCK/T0 - PWM //
// ~3 - 5 - PD3 - 3 - PCINT19/OC2B/INT1 - INT //
// ~2 - 4 - PD2 - 2 - PCINT18/INT0 - INT //
// TX->1 - 3 - PD1 - 1 - PCINT17/TXD - Serial monitor TXD //
// RX<-0 - 2 - PD0 - 0 - PCINT16/RCD - Serial Monitor RCD //
// //
// CONNECTIONS RAILS BOTTOM LEFT: POWER ************************************* //
// 5V - 7 - VCC - - VCC - Output to breadboard VCC //
// RES - 1 - RES - - PCINT14/RESET - RES //
// 3.3V - - - - - //
// 5V - - - - - //
// GND - - - - - //
// GND - - - - - //
// Vin - - - - - //
// //
// CONNECTIONS RAILS BOTTOM RIGHT: 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 - Input divider H=1/4 TWI //
////////////////////////////////////////////////////////////////////////////////
// EEPROM MEMORY MAP: //
// Start End Number Description //
// 0000 0000 1 Never use this memory location to be AVR compatible //
////////////////////////////////////////////////////////////////////////////////
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