/*
Error codes:
- error 200 autohome mislukt (eindeloop boven)
- error 190 liftMove eindeloop geraakt
- error 180 liftmove geen geldige waarde als positie of target in liftMove
addresses EEPROM
- 0 aantal byte locaties voor count
- 1-9 voorbehouden voor laatste error codes
- 10+ voorbehouden voor count
etage nummers
- int etage3 = 4;
- int etage2 = 3;
- int etage1 = 2;
- int etage0 = 1;
- int kelder = 0;
*/
//toevoegen van libary
#include
#include // library lcd scherm
#include // library eeprom geheugen (permantent geheugen)
//definiëren van pins
#define up 22
#define down 23
#define magnet0 24
#define magnet1 25
#define magnet2 26
#define magnet3 27
#define greenCave 28
#define redIndicator 29
#define green0 30
#define green1 31
#define green2 32
#define green3 33
#define btnCall3 36
#define btnCall2 37
#define btnCall1 38
#define btnCall0 39
#define btnSendDown 40
#define eindeloopBeneden 41
#define eindeloopBoven 42
#define cntLift3 43
#define cntLift2 44
#define cntLift1 45
#define cntLift0 46
#define cntLiftKelder 47
#define cntDeuren 48
#define debugSwitch 49
#define motorbeveiliging 50
#define cntKast 51
bool kastNC = true;
int loopCount = 0;
//active en inactive in plaats van high en low wegens inverse waarde
int active = 0;
int inactive = 1;
int location = 10; //address eerste byte van counter in EEPROM
bool isOpen = true;
LiquidCrystal_I2C lcd(0x27, 16, 2); // lcd aanmaken
void setup() {
lcd.init(); // initialiseer het LCD scherm
lcd.backlight(); // zet de backlight aan
lcd.clear(); // lcd leegmaken
lcd.setCursor(0, 0);
lcd.print("ACTIVATING");
pinMode(up, OUTPUT); //motor L
digitalWrite(up, inactive);
pinMode(down, OUTPUT); //motor R
digitalWrite(down, inactive);
// inputs en outputs benoemen
pinMode(redIndicator, OUTPUT);
digitalWrite(redIndicator, inactive);
pinMode(btnCall3, INPUT_PULLUP);
pinMode(btnCall2, INPUT_PULLUP);
pinMode(btnCall1, INPUT_PULLUP);
pinMode(btnCall0, INPUT_PULLUP);
pinMode(btnSendDown, INPUT_PULLUP);
pinMode(cntDeuren, INPUT_PULLUP);
//pinMode(cntDeur1,INPUT);
//pinMode(cntDeur2,INPUT);
//pinMode(cntDeur3,INPUT);
pinMode(cntLiftKelder, INPUT_PULLUP);
pinMode(cntLift0, INPUT_PULLUP);
pinMode(cntLift1, INPUT_PULLUP);
pinMode(cntLift2, INPUT_PULLUP);
pinMode(cntLift3, INPUT_PULLUP);
pinMode(eindeloopBoven, INPUT_PULLUP);
pinMode(eindeloopBeneden, INPUT_PULLUP);
pinMode(debugSwitch, INPUT);
pinMode(motorbeveiliging, INPUT_PULLUP);
pinMode(cntKast,INPUT);
pinMode(magnet0, OUTPUT);
digitalWrite(magnet0, inactive);
pinMode(magnet1, OUTPUT);
digitalWrite(magnet1, inactive);
pinMode(magnet2, OUTPUT);
digitalWrite(magnet2, inactive);
pinMode(magnet3, OUTPUT);
digitalWrite(magnet3, inactive);
pinMode(green0, OUTPUT);
digitalWrite(green0, inactive);
pinMode(green1, OUTPUT);
digitalWrite(green1, inactive);
pinMode(green2, OUTPUT);
digitalWrite(green2, inactive);
pinMode(green3, OUTPUT);
digitalWrite(green3, inactive);
pinMode(greenCave, OUTPUT);
digitalWrite(greenCave, inactive);
//pinMode(btnSendDown, INPUT_PULLUP); // Input pullup means that the signal is HIGH if circuit is switched off!
Serial.begin(57600);
while(!digitalRead(debugSwitch)){
for(int i =1;i<=9;i++){
char line1[16];
char line2[16];
sprintf(line1, "error %i:", i);
sprintf(line2, "error code: %i", readEEPROM(i));
lcd.clear();
lcd.setCursor(0, 0);
lcd.print(line1);
lcd.setCursor(0, 1);
lcd.print(line2);
delay(5000);
}
}
liftStop();
autohome();
lcd.clear();
lcd.setCursor(0, 0);
lcd.print("move count:");
lcd.setCursor(0, 1);
lcd.print(readEEPROM(location));
delay(5000);
lcd.clear();
lcd.setCursor(0, 0);
lcd.print("STARTUP");
lcd.setCursor(0, 1);
lcd.print("COMPLETE");
}
void loop(){
if(digitalRead(motorbeveiliging)){
int btnIn = controlleerButtons();
int liftPosition = checkPosition();
//lcd.clear();
if(btnIn!=9){
lcd.clear();
lcd.setCursor(0, 0);
lcd.print("Input:");
if(btnIn==0){
lcd.setCursor(14, 0);
} else{
lcd.setCursor(15, 0);
}
lcd.print(btnIn-1);
} else{
lcd.setCursor(0,0);
lcd.print("No input");
}
if(liftPosition!=9){
lcd.setCursor(0, 1);
lcd.print("Lift position:");
if(liftPosition==0){
lcd.setCursor(14,1);
} else{
lcd.setCursor(15, 1);
}
lcd.print(liftPosition-1);
} else{
lcd.clear();
lcd.setCursor(0, 1);
lcd.print("pos unknown");
}
delay(200);
if((btnIn !=9 && liftPosition != btnIn)&&digitalRead(cntDeuren)){
liftMove(btnIn);
lcd.clear();
}else{
if(!digitalRead(cntDeuren)){
lcd.clear();
lcd.setCursor(0, 0);
lcd.print("ERROR ");
lcd.setCursor(0, 1);
lcd.print("DOOR OPEN");
delay(3000);
}
}
}else{
lcd.clear();
lcd.setCursor(0, 0);
lcd.print("ERROR MOTOR");
lcd.setCursor(0, 1);
lcd.print("BEVEILIGING");
delay(3000);
}
}
bool isKastOpen(){
isOpen = digitalRead(cntKast);
if(kastNC){
if(isOpen){
return true;
}else{
return false;
}
}else{
if(isOpen){
return false;
}else{
return true;
}
}
}
int controlleerButtons() {
int res;
if (!digitalRead(btnCall3)) {
res = 4;
} else if (!digitalRead(btnCall2)) {
res = 3;
} else if (!digitalRead(btnCall1)) {
res = 2;
} else if (!digitalRead(btnCall0)) {
res = 1;
} else if (!digitalRead(btnSendDown)) {
res = 0;
} else res = 9;
return res;
}
int checkPosition() {
int res;
if (!digitalRead(cntLift3)) {
digitalWrite(green3,active);
digitalWrite(green2,inactive);
digitalWrite(green1,inactive);
digitalWrite(green0,inactive);
digitalWrite(greenCave,inactive);
res = 4;
} else if (!digitalRead(cntLift2)) {
digitalWrite(green2,active);
digitalWrite(green3,inactive);
digitalWrite(green1,inactive);
digitalWrite(green0,inactive);
digitalWrite(greenCave,inactive);
res = 3;
} else if (!digitalRead(cntLift1)) {
digitalWrite(green1,active);
digitalWrite(green2,inactive);
digitalWrite(green3,inactive);
digitalWrite(green0,inactive);
digitalWrite(greenCave,inactive);
res = 2;
} else if (!digitalRead(cntLift0)) {
digitalWrite(green0,active);
digitalWrite(green2,inactive);
digitalWrite(green1,inactive);
digitalWrite(green3,inactive);
digitalWrite(greenCave,inactive);
res = 1;
} else if (!digitalRead(cntLiftKelder)) {
digitalWrite(greenCave,active);
digitalWrite(green2,inactive);
digitalWrite(green1,inactive);
digitalWrite(green0,inactive);
digitalWrite(green3,inactive);
res = 0;
} else res = 9;
return res;
}
void liftStop(){
digitalWrite(up,inactive);
digitalWrite(down,inactive);
delay(1000);
}
void autohome(){
lcd.init();
//lcd.clear();
lcd.setCursor(0, 0);
lcd.print("autohome");
lcd.setCursor(0, 1);
lcd.print("in progress");
moving(true);
liftStop();
while(digitalRead(eindeloopBeneden)){
digitalWrite(down,active);
}
liftStop();
while(digitalRead(cntLiftKelder)){
digitalWrite(up,active);
if(!digitalRead(eindeloopBoven)){
liftStop();
break;
addError(200);
//error autohome
}
}
liftStop();
moving(false);
lcd.clear();
lcd.setCursor(0, 0);
lcd.print("autohome");
lcd.setCursor(0, 1);
lcd.print("complete");
}
void liftMove(int target){
moving(true);
lcd.clear();
lcd.setCursor(0,0);
lcd.print("Lift moving");
liftStop();
int pos = checkPosition;
while(pos==9){
digitalWrite(down,active);
if(!digitalRead(eindeloopBeneden)){
liftStop();
autohome();
break;
}
pos = checkPosition();
}
liftStop();
int lastPos = pos;
bool richting = true; //true = up & false = down
while(lastPos != target){
if(!digitalRead(eindeloopBeneden) || !digitalRead(eindeloopBoven)){
break;
liftStop();
addError(190);
}
if(target < lastPos){
if(richting){
liftStop();
}
digitalWrite(up,inactive);
digitalWrite(down,active); //while target!= lastpos{while< delay;while> delay}
richting = false;
}
else if(target > lastPos){
if(!richting){
liftStop();
}
digitalWrite(down,inactive);
digitalWrite(up,active);
richting = true;
}
else{
liftStop();
addError(180);
}
pos = checkPosition();
if(pos !=9){
lastPos = pos;
}
}
liftStop();
moving(false);
}
void moving(bool moving){
if(moving){
countUp();
digitalWrite(redIndicator,active);
digitalWrite(magnet0,active);
digitalWrite(magnet1,active);
digitalWrite(magnet2,active);
digitalWrite(magnet3,active);
}
else{
digitalWrite(redIndicator,inactive);
digitalWrite(magnet0,inactive);
digitalWrite(magnet1,inactive);
digitalWrite(magnet2,inactive);
digitalWrite(magnet3,inactive);
}
delay(1000);
}
void writeEEPROM(int val, int address) {
int count = 0;
if (val <= 255) {
EEPROM.update(address, val);
EEPROM.update(0, 1);
} else {
while (val > 255) {
EEPROM.update(address, 255);
val -= 255;
address++;
count++;
}
EEPROM.update(address, val);
count++;
EEPROM.update(0, count);
}
}
int readEEPROM(int address) {
int size = EEPROM.read(0);
int res = 0;
while (size > 0) {
res += EEPROM.read(size + address - 1);
size--;
}
return res;
}
void countUp() {
int val = readEEPROM(location);
writeEEPROM(val + 1, location);
}
void addError(int newError) {
for (int i = 1; i < 9; i++) {
EEPROM.update(i, EEPROM.read(i + 1)); //read -> get get.(location,data type)
}
EEPROM.write(9, newError);
}
