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/* Firgelli Automations
* Limited or no support: we do not have the resources for Arduino code support
*
* Program enables momentary direction control of actuator using push button
*/
#include <elapsedMillis.h>
elapsedMillis timeElapsed;
int RPWM = 10;
int LPWM = 11;
int sensorPin = A0;
int sensorVal;
int Speed=255;
float strokeLength = 6.0; //customize to your specific stroke length
float extensionLength;
int maxAnalogReading;
int minAnalogReading;
void setup() {
pinMode(RPWM, OUTPUT);
pinMode(LPWM, OUTPUT);
pinMode(sensorPin, INPUT);
Serial.begin(9600);
maxAnalogReading = moveToLimit(1);
minAnalogReading = moveToLimit(-1);
}
void loop(){
Serial.println("Extending...");
sensorVal = analogRead(sensorPin);
while(sensorVal < maxAnalogReading){
driveActuator(1, Speed);
displayOutput();
delay(20);
}
driveActuator(0, Speed);
delay(1000);
Serial.println("Retracting...");
sensorVal = analogRead(sensorPin);
while(sensorVal > minAnalogReading){
driveActuator(-1, Speed);
displayOutput();
delay(20);
}
driveActuator(0, Speed);
delay(1000);
}
int moveToLimit(int Direction){
int prevReading=0;
int currReading=0;
do{
prevReading = currReading;
driveActuator(Direction, Speed);
timeElapsed = 0;
while(timeElapsed < 200){ delay(1);} //keep moving until analog reading remains the same for 200ms
currReading = analogRead(sensorPin);
}while(prevReading != currReading);
return currReading;
}
float mapfloat(float x, float inputMin, float inputMax, float outputMin, float outputMax){
return (x-inputMin)*(outputMax - outputMin)/(inputMax - inputMin)+outputMin;
}
void displayOutput(){
sensorVal = analogRead(sensorPin);
extensionLength = mapfloat(sensorVal, float(minAnalogReading), float(maxAnalogReading), 0.0, strokeLength);
Serial.print("Analog Reading: ");
Serial.print(sensorVal);
Serial.print("\tActuator extension length: ");
Serial.print(extensionLength);
Serial.println(" inches");
}
void driveActuator(int Direction, int Speed){
switch(Direction){
case 1: //extension
analogWrite(RPWM, Speed);
analogWrite(LPWM, 0);
break;
case 0: //stopping
analogWrite(RPWM, 0);
analogWrite(LPWM, 0);
break;
case -1: //retraction
analogWrite(RPWM, 0);
analogWrite(LPWM, Speed);
break;
}
}
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