The Internet of Ice Buclet

icebucketcontroller.ino

#define BRAKEVCC 0
#define CW   1
#define CCW  2
#define BRAKEGND 3
#define CS_THRESHOLD 100

/*  VNH2SP30 pin definitions
 xxx[0] controls '1' outputs
 xxx[1] controls '2' outputs */
int inApin[2] = {7, 4};  // INA: Clockwise input
int inBpin[2] = {8, 9}; // INB: Counter-clockwise input
int pwmpin[2] = {5, 6}; // PWM input
int cspin[2] = {2, 3}; // CS: Current sense ANALOG input
int enpin[2] = {0, 1}; // EN: Status of switches output (Analog pin)

int statpin = 13;

void setup()
{
  Serial1.begin(9600);
  
  pinMode(statpin, OUTPUT);

  // Initialize digital pins as outputs
  for (int i=0; i<2; i++)
  {
    pinMode(inApin[i], OUTPUT);
    pinMode(inBpin[i], OUTPUT);
    pinMode(pwmpin[i], OUTPUT);
  }
  
  // Initialize braked
  for (int i=0; i<2; i++)
  {
    digitalWrite(inApin[i], LOW);
    digitalWrite(inBpin[i], LOW);
  }

}

bool lights = false;
bool lit = false;

bool horn = false;
bool honk = false;

void loop()
{
  
  if (Serial1.available()) {
    
    char c = Serial1.read();
    
    if (c == 'f') {
      motorGo(0, CW, 1023);
    }
    
    if (c == 'b') {
      motorGo(0, CCW, 1023);
    }
    
    if (c == 'l') {
      lights = !lights;
      if (!lights) {
        digitalWrite(10, LOW);
      }
    }
    
    if (c == 'h') {
      horn = !horn;
      if (!horn) {
        digitalWrite(11, LOW);
      }
    }
    
  }
  
  delay(200);
  
  if (lights) {
    
    lit = !lit;
    
    if (lit) {
      digitalWrite(10, HIGH);
    } else {
      digitalWrite(10, LOW);
    }
    
  }
  
  if (horn) {
    
    honk = !honk;
    
    if (honk) {
      digitalWrite(11, HIGH);
    } else {
      digitalWrite(11, LOW);
    }
    
  }
  
  motorOff(0);
  
}

void motorOff(int motor)
{
  // Initialize braked
  for (int i=0; i<2; i++)
  {
    digitalWrite(inApin[i], LOW);
    digitalWrite(inBpin[i], LOW);
  }
  analogWrite(pwmpin[motor], 0);
}

void motorGo(uint8_t motor, uint8_t direct, uint8_t pwm)
{
  if (motor <= 1)
  {
    if (direct <=4)
    {
      // Set inA[motor]
      if (direct <=1)
        digitalWrite(inApin[motor], HIGH);
      else
        digitalWrite(inApin[motor], LOW);

      // Set inB[motor]
      if ((direct==0)||(direct==2))
        digitalWrite(inBpin[motor], HIGH);
      else
        digitalWrite(inBpin[motor], LOW);

      analogWrite(pwmpin[motor], pwm);
    }
  }
}