linefollower_timer_0521.ino

#include <Wire.h>
#include <AStar32U4.h>
#include <VL6180X.h>

VL6180X sensor;
AStar32U4LCD lcd;
AStar32U4ButtonA buttonA;
AStar32U4ButtonB buttonB;
AStar32U4ButtonC buttonC;

int ave;
int readings[200];
int value;
long lap_time[4];
long lap_time_raw[4];
int lap = 0;
int btn_pushes = 0;

void setup()
{
  Serial.begin(9600);
  Wire.begin();

  sensor.init();
  sensor.configureDefault();
  sensor.setScaling(1);
  sensor.setTimeout(500);

  lcd.clear();
  lcd.print("Press C");
  lcd.gotoXY(0, 1);
  lcd.print("to cal");

  buttonC.waitForButton();
  lcd.clear();
  lcd.print("Calib..");


  //wait half a second and then start calibrating
  delay(500);
  ave = 0;
  for(int i=0; i<200; i++)
  {
    readings[i] = sensor.readRangeSingleMillimeters();
    ave = (ave + readings[i])/2;
  }

  lcd.clear();
  lcd.gotoXY(0, 0);
  lcd.print("ave");

  lcd.gotoXY(4, 0);
  lcd.print(ave);

}


void loop()
{
  lap = 0;

  if (buttonA.getSingleDebouncedRelease())
  {
    //cycle through lap times and total time
    btn_pushes++;   //increment to track what push in cycle we are on

    if (btn_pushes==1)
    {
      lcd.clear();
      lcd.print("Lap 1");
      lcd.gotoXY(0, 1);
      lcd.print(lap_time[1]);
    }
    else if (btn_pushes==2)
    {
      lcd.clear();
      lcd.print("Lap 2");
      lcd.gotoXY(0, 1);
      lcd.print(lap_time[2]);
    }
    else if (btn_pushes==3)
    {
      lcd.clear();
      lcd.print("Lap 3");
      lcd.gotoXY(0, 1);
      lcd.print(lap_time[3]);
    }
    else if (btn_pushes==4)
    {
      lcd.clear();
      lcd.print("Total");
      lcd.gotoXY(0, 1);
      lcd.print(lap_time[0]);
      btn_pushes = 0;
    }
  }

  if (buttonC.getSingleDebouncedRelease())
  {
    lcd.clear();
    lcd.print("Ready");
    while(lap<4)
    {
      //start watching for robots to time laps
      value = sensor.readRangeSingleMillimeters();
      Serial.print(value);
      if (sensor.timeoutOccurred()) { Serial.print(" TIMEOUT"); }
      Serial.println();

      //turn on LED if value read from sensor 10mm lower than calibrated average
      if(ave - value > 10)
      {
        digitalWrite(LED_BUILTIN, HIGH);   // turn the LED on
        Serial.println("LED on");
        if(lap == 0)
        {
          lap_time_raw[0] = millis();
          lcd.clear();
          lcd.print("Start!");
        }
        else
        {
          lap_time_raw[lap] = millis();
          lap_time[lap] = lap_time_raw[lap] - lap_time_raw[lap-1];
          lcd.clear();
          lcd.print("Lap Time");
          lcd.gotoXY(0, 1);
          lcd.print(lap_time[lap]);
        }
        if (lap == 3)
        {
          lap_time[0] = lap_time_raw[3] - lap_time_raw[0];
          lcd.clear();
          lcd.print("Tot Time");
          lcd.gotoXY(0, 1);
          lcd.print(lap_time[0]);
        }
        lap++;
        delay(4000);
      }
      else
      {
        digitalWrite(LED_BUILTIN, LOW);   // turn the LED off
      }
    }
  }
}