ATCAR

buttonControl.ino

const int buttonPin=2;
const unsigned debounceTime=100;
int buttonState = 0;
unsigned readTime=0;

void buttonInit()
{
   pinMode(buttonPin, INPUT);
}
void handleButton()
{
  buttonState = digitalRead(buttonPin);
  
  if(millis()-readTime > debounceTime)
  {
    if (buttonState == HIGH) 
    {     
     if(mode==0)
     {
       mode=1;
     }
     else
     {
       mode=0;
     }  
    }
    readTime=millis();
  }
}

ledControl.ino

// constants won't change. Used here to 
// set pin numbers:
const int ledPin =  13;      // the number of the LED pin

// Variables will change:
int ledState = LOW;             // ledState used to set the LED
long previousMillis = 0;        // will store last time LED was updated

// the follow variables is a long because the time, measured in miliseconds,
// will quickly become a bigger number than can be stored in an int.
long interval = 1000;           // interval at which to blink (milliseconds)

void ledInit()
{
    pinMode(ledPin, OUTPUT); 
}

void ledBlink()
{
  unsigned long currentMillis = millis();
  
  if(currentMillis - previousMillis > interval) {
    // save the last time you blinked the LED 
    previousMillis = currentMillis;   

    // if the LED is off turn it on and vice-versa:
    if (ledState == LOW)
      ledState = HIGH;
    else
      ledState = LOW;
    digitalWrite(ledPin, ledState);
  }
}

void ledOn()
{
  if(ledState == LOW)
  {
    ledState = HIGH;
    digitalWrite(ledPin, ledState);
  }
}

void handleLed()
{
  if (mode==1)
  {
    ledOn();
  }
  else
  {
    ledBlink();
  }
}

Robot.ino

// Controlling a servo position using a potentiometer (variable resistor) 
// by Michal Rinott <http://people.interaction-ivrea.it/m.rinott> 
 
int potpin = 0;  // analog pin used to connect the potentiometer


int mode=1;

void setup() 
{ 
  ledInit();
  buttonInit();
  servoInit();
} 
 
void loop() 
{ 
  handleLed();
  handleButton();
  handleServo();
  
  delay(50);                           // waits for the servo to get there 
} 

servoControl.ino

#include <Servo.h> 

Servo myservo;  // create servo object to control a servo 
int position=0;
int direction=0;

void servoInit()
{
  myservo.attach(9);  // attaches the servo on pin 9 to the servo object 
}
int servoAutomatic()
{
  if (direction==0)
  {
    if (position < 179)
    {
      position=position+1;
    }
    else
    {
      direction=1;
    }
  }
  else
  {
    if(position>0)
    {
      position=position-1;
    }
    else
    {
      direction=0;
    }
  }
  return position;
}

int servoManual()
{
  int val = analogRead(potpin);            // reads the value of the potentiometer (value between 0 and 1023) 
  val = map(val, 0, 1023, 0, 179);     // scale it to use it with the servo (value between 0 and 180) 
  return val;
}

void handleServo()
{
  int pos=90;
  if (mode==0)
  {
    pos=servoAutomatic();
  }
  else
  {
    pos=servoManual();
  }
  myservo.write(pos);                  // sets the servo position according to the scaled value 
}