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havlobot.ino

//Project uses the following Arduino libraries: TaskScheduler, TinkerKit, Wire, LiquidCrystal_I2C and Servo.
#include <TaskScheduler.h>
#include <TinkerKit.h>
#include <Wire.h>
#include <LiquidCrystal_I2C.h>
#include <Servo.h>

//Set the LCD address to 0x27 for a 16 chars and 2 line display.
LiquidCrystal_I2C lcd(0x27, 16, 2);

//Initialize TinkerKit Button as Input 0
TKButton button(I0); 

//Initialize TinkerKit Continuous rotation servo
Servo TKContinuousRotationServo;

//Initialize TinkerKit LED as Output 1
TKLed led(O1);

//Initialize 4 callback actions for the task scheduler
void t1Callback();
void t2Callback();
void t3Callback();
void t4Callback();

//Initializie runner with all the task scheduled. The tasks run in a loop. 
//Initialize tasks responding to the callback actions. The number in brackets indicates how many times per second the task is performed.
Task tbutton(50, TASK_FOREVER, &t1Callback);
Task tchapadlo(115, TASK_FOREVER, &t2Callback);
Task tled(3000, TASK_FOREVER, &t3Callback);
Task tdisplay(1000, TASK_FOREVER, &t4Callback);
Scheduler runner;

//Task for reading button's state. If the button is on, the servo with the tentacle, the LED and the LCD are enabled.
//When on, the LCD displays Havel's motto ("Truth and love must prevail over lies and hatred").
//If the button is off, the periferies are disabled. 
void t1Callback() {
  int val = button.readSwitch();
  if (val) {
    tchapadlo.enableIfNot();
    tled.enableIfNot();
    tdisplay.enableIfNot();

    lcd.backlight();
    lcd.setCursor(0, 0);
    lcd.print(" Pravda a laska");
    lcd.setCursor(0, 1);
    lcd.print(" musi zvitezit");
  } else {
    tchapadlo.disable();
    tled.disable();
    tdisplay.disable();

    lcd.noBacklight();
    lcd.clear();
  }
}

//Task for counting the revolutions of the servo. 
//If the count is even (division by two leaves no remainder), servo is set to position 5. If the count is odd, it is set to position 175
void t2Callback() {
  int val = tchapadlo.getRunCounter() % 2 ? 5 : 175;
  TKContinuousRotationServo.write(val);

}

//Task for turning the LED on/off
void t3Callback() {
  int val = tled.getRunCounter() % 2;
  Serial.println( val);
  if (val) {
    led.on();
  } else {
    led.off();
  }
}

//Task for stopping the servo and switching the led off. 
void t4Callback() {
}
void chapadloDisable() {
  TKContinuousRotationServo.write(90);
}
void ledDisable() {
  led.off();
}

//Runner setup - includes all the tasks above. 
void setup () {
  Serial.begin(115200);
  TKContinuousRotationServo.attach(O0);
  runner.init();
  runner.addTask(tbutton);
  runner.addTask(tchapadlo);
  runner.addTask(tled);

  tchapadlo.setOnDisable(&chapadloDisable);
  tled.setOnDisable(&ledDisable);

  tbutton.enable();

  lcd.begin();
}


void loop () {
  runner.execute();
}