/* * Library Inclusions */ #include "LCD.h" #include "LiquidCrystal_I2C.h" // use for the LCD display #include // used for current sensing on scl and sda pins /* * Definitions */ #define SET_INT 0 // default integer value of 0 #define RESET_INT 0 // reset the integer value to 0 #define SR_BAUD_RATE 9600 // default UART baud rate of 9600 #define SERIAL_PRINT_RATE 10 // number of milliseconds for each print to serial monitor #define HEX_ADDRESS_PAD (0x27) // #define MAX_COL_DISPLAY 20 // the number of columns of the display #define MAX_ROW_DISPLAY 4 // the number of rows of the display #define BEGIN_OF_BYTE 0 // beginning of the byte for reading #define END_OF_BYTE 8 // ending of the byte of reading #define MAX_NES_OUT (1023.00) // maximum output for the NES controller to move the DC motor #define MIN_NES_OUT (0.00) // minimum output for the NES controller to move the DC motor #define NES_MOVE_RATE (10.23) // movement rate of the NES output #define BUTTON_UP (0b11101111) // the byte value for a button up press on the NES #define BUTTON_DOWN (0b11011111) // the byte value for a button down press on the NES #define BUTTON_START (0b11110111) // the byte value for a start button press on the NES #define BUTTON_A (0b11111110) // the byte value for a button down press on the NES #define BUTTON_B (0b11111101) // the byte value for a start button press on the NES #define BUTTON_PRESS_RATE 20 // rate at which the user can press the button for input #define BUTTON_DISALLOW 1 // stop user from sending NES inputs #define BUTTON_ALLOW 0 // allow the user to send an NES input #define MOTOR_RATE 10 // movement rate of the motor #define MUL_THRESH (5) // multiplicative threshold to determine if the drop is within the NES range #define OUTPUT_SCALE (0.263) // scale to print the degrees at which the DC motor should be at. #define THREE_DIGITS 100 // integer value for when a number will have three digits #define TWO_DIGITS 10 // integer value for when a number will have two digits Adafruit_INA219 ina219; // define the ina219 object enum arduino_pin_num { PIN_0 = 0, PIN_1, PIN_2, PIN_3, PIN_4, PIN_5, PIN_6, PIN_7 }; // enumeration for pin definitions /* * Initialization */ LiquidCrystal_I2C lcd(HEX_ADDRESS_PAD, PIN_2, PIN_1, PIN_0, PIN_4, PIN_5, PIN_6, PIN_7); // display pin setup float nesOutput = ( float )SET_INT; // intitialize the output of the NES to 0 float motorPos = ( float )SET_INT; // initialize the printing motor degree to 0 int dropPotent = SET_INT; // initialize the drop across the potentiometer to 0 int dropPotentPin = A0; // this is the pin that will measure the voltage drop across the potentiometer int targetPosition = ( float )SET_INT; // this is the target for the motor position float current_mA = 0; // current from the ina current sensor int millisSinceSer = SET_INT; // milliseconds since the last time we printed serial int millisPreviousSer = SET_INT; // previous milliseconds check int millisSinceNES = SET_INT; // milliseconds since we last reset the button allow int millisPreviousNES = SET_INT; // previous milliseconds check boolean buttonPressed = BUTTON_ALLOW; // a latch to disallow or allow the user an input from hte NES byte outPWMFwd = 3; // this is the pin that will output a PWM to move the DC motor forward byte outPWMRev = 5; // this is the pin that will output a PWM to move the DC motor backwards byte NESData = 9; // this is the pin that the Data connection is connected to byte NESLatch = 11; // this is the pin that the Latch (otherwise known as strobe) connection is connected to byte NESClock = 12; // this is the pin that the Clock connection is connected to byte NESButtonData; // This is where we will store the received data that comes from the NES Control Pad uint32_t currentFrequency; // define the current frequency of the ina current sencor /* * Program */ /************************************************** * Name: setup() * Purpose: Initialize different library functions * and pre-set macros to allow for use in the loop * function * In Program Calls: None **************************************************/ void setup() { Serial.begin(SR_BAUD_RATE); // serial data will be sent at 9600bps pinMode(NESLatch, OUTPUT); // Latch connection is an output pinMode(NESClock, OUTPUT); // Clock connection is an output pinMode(NESData, INPUT); // Data connection is an Input (because we need to receive the data from the control pad) pinMode(outPWMFwd, OUTPUT); // pin mmode for the forward motor pin pinMode(outPWMRev, OUTPUT); // pin mmode for the backward motor pin digitalWrite(outPWMFwd, LOW); // Initialize motor state to off digitalWrite(outPWMRev, LOW); // Initialize motor state to off dropPotent = analogRead( dropPotentPin ); // read the drop potential across the potentiometer nesOutput = ( float )dropPotent; // set the NES output to the current drop to stop rapid movement when initializing targetPosition = nesOutput; // just change of variable name motorPos = targetPosition; // just change of variable name lcd.begin(MAX_COL_DISPLAY, MAX_ROW_DISPLAY); // setup the array of the display row and column lcd.setBacklightPin(3,POSITIVE); // setup the backlight pin lcd.setBacklight(HIGH); // set the backlight on lcd.setCursor(3,0); // move the cursor to the 3rd column 0th row lcd.clear(); // clear the LCD ina219.begin(); // Initialize the INA219. ina219.setCalibration_16V_400mA(); // To use a slightly lower 32V, 1A range (higher precision on amps): } /************************************************** * Name: loop() * Purpose: Loops infinitely to allow for continous * use of the arduino board untill power is lost * In Program Calls: * GetNESControllerData(); * convertNESControllerData(); * handleComparison(); * printPosition(); **************************************************/ void loop(){ GetNESControllerData(); // this calls the function to grab the NES control pad data and it will store it in 'NESButtonData' convertNESControllerData(); // this function converts the NES input to a position location drive(); // drives the motors toward the targetPosition printPosition(); // this function prints the position info to the LCD display } /************************************************** * Name: getMotorAmps() * Purpose: reads in the data from the INA129 ic * relating to current draw of the motor * In Program Calls: printPosition **************************************************/ void getMotorAmps(){ //shuntvoltage = ina219.getShuntVoltage_mV(); //busvoltage = ina219.getBusVoltage_V(); current_mA = ina219.getCurrent_mA(); // get the current milliAmps from the ina219 //power_mW = ina219.getPower_mW(); //loadvoltage = busvoltage + (shuntvoltage / 1000); } /************************************************** * Name: GetNESControllerData() * Purpose: Reads the byte input from the NES controller * In Program Calls: None **************************************************/ void GetNESControllerData(){ digitalWrite(NESLatch, HIGH); // we need to send a clock pulse to the latch (strobe connection) digitalWrite(NESLatch, LOW); // for(int x=BEGIN_OF_BYTE; x<=END_OF_BYTE; x++){ // serially transmit NES_Data to the Arduino bitWrite(NESButtonData,x,digitalRead(NESData)); // write one bit at a time to NESButtonData var digitalWrite(NESClock, HIGH); // Pulse the clock to feed the next bit onto the 4021 shift register digitalWrite(NESClock, LOW); // } } /************************************************** * Name: convertNESControllerData() * Purpose: Converts the NES data to a position * solution which it wants the DC motor to be at * In Program Calls: None **************************************************/ void convertNESControllerData(){ millisSinceNES = (millis() - millisPreviousNES) + millisSinceNES; // add number of m-s since last millisecond check to a counter millisPreviousNES = millis(); // save previous number of milliseconds if (millisSinceNES > BUTTON_PRESS_RATE){ // if the current number of miliseconds counter is greater than 20 millisSinceNES = RESET_INT; // reset the counter buttonPressed = BUTTON_ALLOW; // allow the user to press the button again } if((NESButtonData == BUTTON_UP) && ( float )nesOutput < ( MAX_NES_OUT - NES_MOVE_RATE ) && buttonPressed == BUTTON_ALLOW){ // if the up button was pressed and we have not hit the max position yet buttonPressed = BUTTON_DISALLOW; // register that the button has been pressed nesOutput = nesOutput + NES_MOVE_RATE; // add 2.7 degrees to the position } if((NESButtonData == BUTTON_DOWN) && ( float )nesOutput > ( MIN_NES_OUT + NES_MOVE_RATE ) && buttonPressed == BUTTON_ALLOW){ // if the down button was pressed and we have not hit the min position yet buttonPressed = BUTTON_DISALLOW; // register that the button has been pressed nesOutput = nesOutput - NES_MOVE_RATE; // remove 2.7 degrees to the position } if((NESButtonData == BUTTON_START) && ( float )nesOutput > ( MIN_NES_OUT + NES_MOVE_RATE ) && buttonPressed == BUTTON_ALLOW){ targetPosition = nesOutput; // latch the value from the nes controller to the target position } if((NESButtonData == BUTTON_A) && buttonPressed == BUTTON_ALLOW){ nesOutput = 0; // set the NES output to 0 targetPosition = 0; // set the target position to 0 } if((NESButtonData == BUTTON_B) && buttonPressed == BUTTON_ALLOW){ nesOutput = MAX_NES_OUT; // set the NES output to 1023 targetPosition = MAX_NES_OUT; // set the target position to 1023 } } /************************************************** * Name: drive() * Purpose: drives the motors toward the target * In Program Calls: None **************************************************/ void drive(){ digitalWrite(outPWMFwd, LOW); // write low out to the motor forward pin digitalWrite(outPWMRev, LOW); // write low to the motor reverse pin printSerial(); // print data to serial while(dropPotent > (targetPosition + ( NES_MOVE_RATE * MUL_THRESH ))){ // while the drop across the potentiometer is // greater than the target position digitalWrite(outPWMFwd, HIGH); // write high to the motor forward pin printSerial(); // print data to the serial dropPotent = analogRead(dropPotentPin); // get the drop across the potentiometer printPosition(); // print data to the LCD } while(dropPotent < (targetPosition - ( NES_MOVE_RATE * MUL_THRESH ))){ // while the drop across the potentiometer is // less than the target position digitalWrite(outPWMRev, HIGH); // write high to the motor reverse pin printSerial(); // print data to the serial dropPotent = analogRead(dropPotentPin); // get the drop across the potentiometer printPosition(); // print data to the LCD } digitalWrite(outPWMFwd, LOW); // write low to the motor forward pin digitalWrite(outPWMRev, LOW); // write low to the motor reverse pin } /************************************************** * Name: printSerial(); * Purpose: Handles the PWM output for moving the * servo for when the NES controller sends an input * In Program Calls: None **************************************************/ void printSerial() { getMotorAmps(); // get the current across the motor millisSinceSer = (millis() - millisPreviousSer) + millisSinceSer; // add number of m-s since last millisecond check to a counter millisPreviousSer = millis(); // save previous number of milliseconds if (millisSinceSer > SERIAL_PRINT_RATE){ // if the current number of m-s is more than out alloted time millisSinceSer = RESET_INT; // reset the milliseconds since our last check Serial.print(dropPotent); // print the drop across the potentiometer w/ newline Serial.print(' '); // print a blank space for tokenizing Serial.print(nesOutput); // print the NES output Serial.print(' '); // print a blank space for tokenizing Serial.print(current_mA); // print the current across the motor Serial.println(); // print a newline to allow for easy differentiation } } /************************************************** * Name: printPosition() * Purpose: Prints information to LCD display * In Program Calls: None **************************************************/ void printPosition(){ dropPotent = analogRead(dropPotentPin); // read the drop across the potentiometer motorPos = (dropPotent*OUTPUT_SCALE); // scale the counter value getMotorAmps(); // get the amps from the motor lcd.setCursor(1,0); // move the cursor to the 5th column 3rd row lcd.print("Target "); // print the message "Target " to the LCD lcd.print(targetPosition*OUTPUT_SCALE); // print the target position multiplied by the scale to the LCD lcd.setCursor(5,1); // move the cursor to the 5th column 3rd row lcd.print(motorPos); // print the motor position lcd.print(" degrees"); // print the message " degrees" to the LCD if(motorPos < ( float )THREE_DIGITS){ // if the motor position value is less than three digits lcd.setCursor(18,1); // move the cursor to the 18th column 3rd row lcd.print(" "); // replace the character there with a space } if(motorPos < ( float )TWO_DIGITS){ // if the motor position value is less than two digits lcd.setCursor(17,1); // move the cursor to the 17th column 3rd row lcd.print(" "); // replace the character there with a space } lcd.setCursor(1,2); // move the cursor to the 1st column 2nd row lcd.print("miliamps: "); // print the message "miliamps: " to the LCD lcd.print(current_mA); // print the miliamps to the LCD lcd.setCursor(1,3); // move the cursor to the 1st column 3rd row lcd.print("NES Output: "); // print the message "miliamps: " to the LCD lcd.print(nesOutput); // print the nes output to the LCD }