Seidenstrasse arduino router dirty 1

router_dirty1.cpp

#include <Bounce2.h>

#define RUNSTOP_DELAY 200 // Delay in ms, before runstops will be active after motor command

#define RUNSTOP_LEFT_PIN 12 // pull-up on 13 will not work
#define RUNSTOP_RIGHT_PIN 11
#define RUNSTOP_CENTER_PIN 10
#define BUTTON_RIGHT_PIN 9
#define BUTTON_LEFT_PIN 8

// indices for input array, moar readability
#define RUNSTOP_LEFT 0
#define RUNSTOP_RIGHT 1
#define RUNSTOP_CENTER 2
#define BUTTON_RIGHT 3
#define BUTTON_LEFT 4

#define DEBOUNCE_VALUE 10 // 10 ms

const int out_relais4 = 4;
const int out_relais5 = 5;
const int out_relais6 = 6;
const int out_relais7 = 7;

byte inputs[] = {RUNSTOP_LEFT_PIN, 
                 RUNSTOP_RIGHT_PIN, 
                 RUNSTOP_CENTER_PIN, 
                 BUTTON_RIGHT_PIN, 
                 BUTTON_LEFT_PIN};

#define NUMINPUTS sizeof(inputs)

Bounce debouncer[NUMINPUTS] = Bounce(); 

void stopMotor()
{
  int i;
  // 4,5,6,7 high -> Motor stop
  Serial.println("StopMotor(): Setting 4,5,6,7 -> high");
  for(i = out_relais4; i <= out_relais7; ++i)
  {
    digitalWrite(i, HIGH);
  }
}

void turnRight()
{
  digitalWrite(out_relais4, LOW);
  digitalWrite(out_relais5, LOW);
  digitalWrite(out_relais6, HIGH);
  digitalWrite(out_relais7, HIGH);
  // wait here to block processing of runstops while still pressed
  // maybe 50ms?
  delay(RUNSTOP_DELAY);
}

void turnLeft()
{
  digitalWrite(out_relais4, LOW);
  digitalWrite(out_relais5, LOW);
  digitalWrite(out_relais6, LOW);
  digitalWrite(out_relais7, LOW);
  delay(RUNSTOP_DELAY);
}

void setup(void) 
{
  byte i;
    for(i = out_relais4; i <= out_relais7; ++i)
  {
    pinMode(i, OUTPUT);
  }
  
  stopMotor();
  
  for (i = 0; i < NUMINPUTS; ++i) 
  {
    pinMode(inputs[i], INPUT_PULLUP);
    debouncer[i].attach(inputs[i]);
    debouncer[i].interval(DEBOUNCE_VALUE); // 10ms
  }
  
  Serial.begin(9600);
  Serial.println("Seidenstrasse Router\n");
}

void loop(void) {
  int input_values[NUMINPUTS];
  for (int i = 0; i < NUMINPUTS; ++i) 
  {
   debouncer[i].update();
   input_values[i] = debouncer[i].read();
  }
  
  if(input_values[RUNSTOP_CENTER] == LOW ||
     input_values[RUNSTOP_LEFT]   == LOW ||
     input_values[RUNSTOP_RIGHT]  == LOW)
  {
    // TODO: * dont stop again if direction change requested < 50ms
    Serial.println("runstop LOW!");
    // stop motor
    stopMotor();
  }
  
  if(input_values[BUTTON_RIGHT]  == LOW)
  {
    Serial.println("Turning right!");
    turnRight();
    // after time X move back to center position
  }
  
  if(input_values[BUTTON_LEFT]  == LOW)
  {
    Serial.println("Turning left!");
    turnLeft();
    // after time X move back to center position
  }
}