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Author: ivanferrier

buoy_with_motor/buoy_with_motor.ino

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+///Motor Pins
+#define outputA 13
+#define outputB 12
+
+//Encoder
+#define encoder 0
+#define encoderRegLength 5
+int encoderRegister[encoderRegLength];  //  <----------------------Shift register
+int encoderRegSum = 0;                  //  <-------------/
+int encoderVal = 5;      //   <----------depth of buoy in rotations
+int dir = 1;  //direction of motor  (positive means going into water)
+
+#define stopper 22
+#define stopperRegLength 10
+int stopperRegister[stopperRegLength];  //  <----------------------Shift register
+int stopperRegSum = 0;                  //  <-------------/
+int stopperActive = 0;  //<----------will be 1 when buoy is at top
+
+int state = 2;
+int maxDepth = 5; //33
+#define deploy 14
+
+void t() {
+  Serial.print("\t");
+}
+
+void up() {
+  digitalWrite(outputA, HIGH);
+  digitalWrite(outputB, LOW);
+  Serial.println("UP_____________");
+}
+
+void down() {
+  digitalWrite(outputB, HIGH);
+  digitalWrite(outputA, LOW);
+  Serial.println("DOWN_______________");
+}
+
+void stopMotor() {
+  digitalWrite(outputA, LOW);
+  digitalWrite(outputB, LOW);
+  Serial.println("STOP_______________");
+
+}
+
+
+void setup() {
+  // put your setup code here, to run once:
+  Serial.begin(9600);
+  Serial.print("Serial is now up");
+  //motor
+  pinMode(outputA, OUTPUT);
+  pinMode(outputB, OUTPUT);
+
+  pinMode(encoder, INPUT_PULLUP);
+  pinMode(stopper, INPUT_PULLUP);
+
+  pinMode(deploy, INPUT_PULLUP);
+
+}
+
+void loop() {
+  //Telling the motors to stop
+
+
+  //  // put your main code here, to run repeatedly:
+  //  Serial.print(digitalRead(13));
+  //  Serial.print('\t');
+  //  Serial.print(digitalRead(encoderPin));
+  //  Serial.print('\t');
+  //  Serial.print(digitalRead(button));
+  //  Serial.print('\t');
+  //  Serial.println(digitalRead(button1));
+  //  Serial.print('\t');
+  //  Serial.println(digitalRead(12));
+  //
+  //
+
+
+  //---------------------------------------------------------------------------------------------encoder shift register
+  encoderRegSum = 0;
+  for ( int index = 0; index < encoderRegLength - 1; index++) {
+    encoderRegister[index] = encoderRegister[index + 1];
+    encoderRegSum += encoderRegister[index];
+  }
+  encoderRegister[encoderRegLength - 1] = digitalRead(encoder);
+
+  if ( encoderRegSum == 1  && encoderRegister[0] == HIGH) {  // falling edge (from high to low) (default is high ie. pullup)
+    encoderVal += dir;
+  }
+  //-----------------------------------------------------------------------------------------------
+
+
+
+
+
+
+  //---------------------------------------------------------------------------------------------stopper shift register
+  stopperRegSum = 0;
+  for ( int index = 0; index < stopperRegLength - 1; index++) {
+    stopperRegister[index] = stopperRegister[index + 1];
+    stopperRegSum += stopperRegister[index];
+  }
+  stopperRegister[stopperRegLength - 1] = digitalRead(stopper);
+
+  if ( stopperRegSum < 3) {  // Magnet detected filter noise smaller than 9 cycles
+    stopperActive = 1;
+  }
+  else {
+    stopperActive = 0;
+  }
+  //-----------------------------------------------------------------------------------------------
+
+
+
+  if (stopperActive == 1) encoderVal = 0;
+
+  //wait for signal to go down
+  if ( state == 0) {
+    if (digitalRead(deploy) == LOW) {
+      state = 1;
+    }
+    stopMotor();
+  }
+
+  //go down until reach bottom
+  if (state == 1) {
+    dir = 1; //depth larger ie. down
+    if ( encoderVal >= maxDepth ) {
+      state = 2;
+    }
+    down();
+  }
+
+  //go up until reach top
+  if ( state  == 2 ) {
+    dir = -1; //depth smaller ie. up
+    if (encoderVal < 1) {
+      state = 0;
+    }
+    up();
+  }
+
+
+
+
+
+  Serial.print(state); t();
+  Serial.print(encoderVal); t();
+  Serial.print(stopperActive); t();
+  Serial.print(digitalRead(deploy)); t();
+  //  Serial.print(stopperRegSum); t();
+  //  Serial.print(stopperRegister[0]); t();
+  //  Serial.print(digitalRead(stopper)); t();
+
+  Serial.println();
+
+
+
+
+}