Architectural Robotics Project 1 for ECE 8680 at Clemson Fall 2020

ArchRob_Project1.ino

/*
	Name:       ArchRob_Project1.ino
	Created:	9/5/2020 12:10:28 PM
	Author:     JACOBT-DESKTOP\Jacob
*/

#include <Servo.h>
#include <Stepper.h>
const int STEPS = 32;
const int StepsPerRotation = 2048; // 2048 steps to 360° of total rotation of motor

// Stepper motor pins
const int Step1IN1 = 8;
const int Step1IN2 = 10;
const int Step1IN3 = 9;
const int Step1IN4 = 11;
Stepper stepper(STEPS, Step1IN1, Step1IN2, Step1IN3, Step1IN4);
//NOTE:  Max range of 7600 steps.  Start at 0 and go to -7600 and go back
int StepsFrom0 = 0; //Keep track of how far we are from the 0 position for easy resetting 

//Servo Motors
const int SERVO1PIN = 5;
const int SERVO2PIN = 6;
Servo servo1;
Servo servo2;

//Sensors
const int PHOTO1PIN = A1;  //Photoresistor
const int FORCEPIN = A4;	  //Flex Pressure sensor 
const int LimitSwitch1 = 4;
const int NEXTMODEBUTTON = 3;









void setup()
{
	Serial.begin(115200);

	pinMode(NEXTMODEBUTTON, INPUT);
	stepper.setSpeed(1000);
	servo1.attach(SERVO1PIN);
	servo2.attach(SERVO2PIN);

	//Reset servo positions
	servo1.write(0);
	servo2.write(30);
	delay(100);

	//Home the board
	SpinHouse(10);

	//Demo
	/*servo1.write(30);
	servo2.write(40);
	SpinHouse(1);
	delay(2000);
	servo1.write(0);
	servo2.write(0);
	SpinHouse(2);
	delay(1000);
	SpinHouse(10);*/

}

void loop()
{

	//Overall states
/*
	1. Start up at 5:00pm, once inside rotate kitchen door from garage to back yard
	2. 8:00pm, sun is down, make bedrooms bigger
	3. 6:00am, sun detected, rotate parents bedroom towards sun (kids away for sleeping in)
	4. People detected in Kitchen - Rotate kitchen door towards cars, make parents bedroom smaller
	5. 10:00am, people detected in kitchen again (kids are up), make kid bedroom smaller.

	So need 2 photoresistors, pressure sensor in kitchen,
*/

//Initial state
//Exit door is at Garage
//Kitchen is large, bedrooms small


	delay(10);
	int currentMode = 1;
	const int ForceThreshold = 15; //Force Sensor reads 0 if nothing on it, 100+ if pressure
	const int PhotoThreshold = 6; //Photoresistor reads 10-12 if covered, 14+ if ambient room light or brighter
	const int LargeBedroom1Pos = 40; //Need to tune - position for having bedroom large and kitchen small 
	const int LargeBedroom2Pos = 60;

	Serial.println("Running mode 1");
	//1. At 5:00pm, people get home from work and enter through the kitchen.  Once inside, rotate towards back yard
	while (digitalRead(NEXTMODEBUTTON) == 0)
	{
		while (analogRead(FORCEPIN) <= ForceThreshold)
		{
			delay(100);
		}
		//Person is on sensor
		delay(500);
		//Rotate exit door to back yard
		SpinHouse(1);
		servo1.write(0);

		//Wait until button is pressed to move onto next mode
		while (digitalRead(NEXTMODEBUTTON) == 0) delay(100);
	}
	Serial.println("Running mode 2");
	delay(1000); //Time to release pushbutton 


	//2. When the sun goes down, make the bedrooms bigger
	while (digitalRead(NEXTMODEBUTTON) == 0)
	{
		while (analogRead(PHOTO1PIN) >= PhotoThreshold)
		{
			delay(100);
		}
		//Sensor is covered == sun went down
		//Make bedrooms bigger 
		servo1.write(LargeBedroom1Pos);
		servo2.write(0);
		delay(400);

		//Wait until button is pressed to move onto next mode
		while (digitalRead(NEXTMODEBUTTON) == 0) delay(100);
	}
	Serial.println("Running mode 3");
	delay(1000); //Time to release pushbutton 


	//3. When the sun comes up, rotate parents bedroom toward sun 
	while (digitalRead(NEXTMODEBUTTON) == 0)
	{
		while (analogRead(PHOTO1PIN) <= PhotoThreshold) //while it is dark, sensor covered 
		{
			delay(100);
		}
		//Sensor is uncovered = sun came up
		//Rotate parents bedroom toward sun for natural wakeup
		SpinHouse(2);

		//Wait until button is pressed to move onto next mode
		while (digitalRead(NEXTMODEBUTTON) == 0) delay(100);
	}
	Serial.println("Running mode 4");
	delay(1000); //Time to release pushbutton 


	//4. Parents detected in the kitchen, rotate exit door towards cars 
	while (digitalRead(NEXTMODEBUTTON) == 0)
	{
		while (analogRead(FORCEPIN) <= ForceThreshold)
		{
			delay(100);
		}
		//Sensor is pressed - person in kitchen
		//Rotate exit door to cars
		SpinHouse(0);
		delay(400);
		//Make kitchen bigger, bedroom 1 smaller
		servo1.write(0);

		//Wait until button is pressed to move onto next mode
		while (digitalRead(NEXTMODEBUTTON) == 0) delay(100);
	}
	Serial.println("Running mode 5");
	delay(1000); //Time to release pushbutton 

	//5. Kids detected in the kitchen - make their bedroom small again
	while (digitalRead(NEXTMODEBUTTON) == 0)
	{
		while (analogRead(FORCEPIN) <= ForceThreshold)
		{
			delay(100);
		}
		//Sensor is pressed - person in kitchen
		//Make kids bedroom small 
		servo2.write(LargeBedroom2Pos);

		//Wait until button is pressed to move onto next mode
		while (digitalRead(NEXTMODEBUTTON) == 0) delay(100);
	}
	delay(1000); //Time to release pushbutton 

}

void SpinHouse(int location)
{
	/*
		1. Kitchen door at Garage (0)
		2. Kitchen door at Back Yard (-5000 temp)
		3. Show off?
		10. Reset to 0 without limit switch
		20. Reset to 0 with limit switch
	*/
	int GarageSteps = -5000;
	int BackYardSteps = -3000;

	switch (location) {
	case 0:
		MoveStepperTo(0);
		break;
	case 1: //Back yard
		MoveStepperTo(BackYardSteps);
		break;
	case 2: //Parents bedroom toward morning sun
		MoveStepperTo(GarageSteps);
		break;
	case 10:
		//Home the stepper with the limit switch
		while (digitalRead(LimitSwitch1) == 0)
		{
			stepper.step(100);
			//delay(10);
		}
		delay(50);
		stepper.step(-300);
		StepsFrom0 = 0;

		break;
	}
}

void MoveStepperTo(int thisStep)
{
	int numStepsToMove = thisStep - StepsFrom0;
	StepsFrom0 = thisStep;
	if (numStepsToMove <= 7600 && numStepsToMove >= -7600)
	{
		//For now be simple and just move there without checking the limit switch - trust yoself!
		stepper.step(numStepsToMove);
  }
}

//didn't end up using this in this project
void CheckInputs()
{
	if (Serial.available() > 0)
	{
		//Do something with serial inputs
		//val = Serial.parseInt();
		//stepper.step(val * 1024);
		//Serial.println(val); //for debugging
	}
}
/*
Overall structure


When the sun goes down, move the walls so the bedrooms get bigger
(When the photoresistors both sense it's dark, move servos)

Then when one detects the sun is coming up, rotate towards it
(When state is


When "end" button pressed, reset motors to initial positions


*/