Código Robotic 3 Avanzado – Pag93
//call the relevant library file
#include <Servo.h>
#include <Wire.h>
#include <LiquidCrystal_I2C.h>
//Set the communication address of I2C to 0x27, display 16 characters every line, two lines in total
LiquidCrystal_I2C mylcd(0x27, 16, 2);
//set ports of two servos to digital 9 and 10
Servo servo_10;
Servo servo_9;
volatile int btn1_num;//set variable btn1_num
volatile int btn2_num;//set variable btn2_num
volatile int button1;//set variable button1
volatile int button2;//set variable button2
String fans_char;//string type variable fans_char
volatile int fans_val;//set variable fans_char
volatile int flag;//set variable flag
volatile int flag2;//set variable flag2
volatile int flag3;//set variable flag3
volatile int gas;//set variable gas
volatile int infrar;//set variable infrar
String led2;//string type variable led2
volatile int light;//set variable light
String pass;//string type variable pass
String passwd;//string type variable passwd
String servo1;//string type variable servo1
volatile int servo1_angle;//set variable light
String servo2;//string type variable servo2
volatile int servo2_angle;//set variable servo2_angle
volatile int soil;//set variable soil
volatile int val;//set variable val
volatile int value_led2;//set variable value_led2
volatile int water;//set variable water
int length;
int tonepin = 3; //set the signal end of passive buzzer to digital 3
//define name of every sound frequency
#define D0 -1
#define D1 262
#define D2 293
#define D3 329
#define D4 349
#define D5 392
#define D6 440
#define D7 494
#define M1 523
#define M2 586
#define M3 658
#define M4 697
#define M5 783
#define M6 879
#define M7 987
#define H1 1045
#define H2 1171
#define H3 1316
#define H4 1393
#define H5 1563
#define H6 1755
#define H7 1971
#define WHOLE 1
#define HALF 0.5
#define QUARTER 0.25
#define EIGHTH 0.25
#define SIXTEENTH 0.625
//set sound play frequency
int tune[] =
{
M3, M3, M4, M5,
M5, M4, M3, M2,
M1, M1, M2, M3,
M3, M2, M2,
M3, M3, M4, M5,
M5, M4, M3, M2,
M1, M1, M2, M3,
M2, M1, M1,
M2, M2, M3, M1,
M2, M3, M4, M3, M1,
M2, M3, M4, M3, M2,
M1, M2, D5, D0,
M3, M3, M4, M5,
M5, M4, M3, M4, M2,
M1, M1, M2, M3,
M2, M1, M1
};
//set music beat
float durt[] =
{
1, 1, 1, 1,
1, 1, 1, 1,
1, 1, 1, 1,
1 + 0.5, 0.5, 1 + 1,
1, 1, 1, 1,
1, 1, 1, 1,
1, 1, 1, 1,
1 + 0.5, 0.5, 1 + 1,
1, 1, 1, 1,
1, 0.5, 0.5, 1, 1,
1, 0.5, 0.5, 1, 1,
1, 1, 1, 1,
1, 1, 1, 1,
1, 1, 1, 0.5, 0.5,
1, 1, 1, 1,
1 + 0.5, 0.5, 1 + 1,
};
void setup() {
Serial.begin(9600);//set baud rate to 9600
mylcd.init();
mylcd.backlight();//initialize LCD
//LCD shows "passcord:" at first row and column
mylcd.setCursor(1 - 1, 1 - 1);
mylcd.print("passcord:");
servo_9.attach(9);//make servo connect to digital 9
servo_10.attach(10);//make servo connect to digital 10
servo_9.write(0);//set servo connected digital 9 to 0°
servo_10.write(0);//set servo connected digital 10 to 0°
delay(300);
pinMode(7, OUTPUT);//set digital 7 to output
pinMode(6, OUTPUT);//set digital 6 to output
digitalWrite(7, HIGH); //set digital 7 to high level
digitalWrite(6, HIGH); //set digital 6 to high level
pinMode(4, INPUT);//set digital 4 to input
pinMode(8, INPUT);//set digital 8 to input
pinMode(2, INPUT);//set digital 2 to input
pinMode(3, OUTPUT);//set digital 3 to output
pinMode(A0, INPUT);//set A0 to input
pinMode(A1, INPUT);//set A1 to input
pinMode(13, OUTPUT);//set digital 13 to input
pinMode(A3, INPUT);//set A3 to input
pinMode(A2, INPUT);//set A2 to input
pinMode(12, OUTPUT);//set digital 12 to output
pinMode(5, OUTPUT);//set digital 5 to output
pinMode(3, OUTPUT);//set digital 3 to output
length = sizeof(tune) / sizeof(tune[0]); //set the value of length
}
void loop() {
auto_sensor();
if (Serial.available() > 0) //serial reads the characters
{
val = Serial.read();//set val to character read by serial Serial.println(val);//output val character in new lines
pwm_control();
}
switch (val) {
case 'a'://if val is character 'a'，program will circulate
digitalWrite(13, HIGH); //set digital 13 to high level，LED lights up
break;//exit loop
case 'b'://if val is character 'b'，program will circulate
digitalWrite(13, LOW); //Set digital 13 to low level, LED is off
break;//exit loop
case 'c'://if val is character 'c'，program will circulate
digitalWrite(12, HIGH); //set digital 12 to high level，NO of relay is connected to COM
break;//exit loop
case 'd'://if val is character 'd'，program will circulate
digitalWrite(12, LOW); //set digital 12 to low level，NO of relay is disconnected to COM
break;//exit loop
case 'e'://if val is character 'e'，program will circulate
music1();//play birthday song
break;//exit loop
case 'f'://if val is character 'f'，program will circulate
music2();//play ode to joy song
break;//exit loop
case 'g'://if val is character 'g'，program will circulate
noTone(3);//set digital 3 to stop playing music
break;//exit loop
case 'h'://if val is character 'h'，program will circulate
Serial.println(light);//output the value of variable light in new lines
delay(100);
break;//exit loop
case 'i'://if val is character 'i'，program will circulate
Serial.println(gas);//output the value of variable gas in new lines
delay(100);
break;//exit loop
case 'j'://if val is character 'j'，program will circulate
Serial.println(soil);//output the value of variable soil in new lines
delay(100);
break;//exit loop
case 'k'://if val is character 'k'，program will circulate
Serial.println(water);//output the value of variable water in new lines
delay(100);
break;//exit loop
case 'l'://if val is character 'l'，program will circulate
servo_9.write(180);//set servo connected to digital 9 to 180°
delay(500);
break;//exit loop
case 'm'://if val is character 'm'，program will circulate
servo_9.write(0);;//set servo connected to digital 9 to 0°
delay(500);
break;//exit loop
case 'n'://if val is character 'n'，program will circulate
servo_10.write(180);//set servo connected to digital 10 to 180°
delay(500);
break;//exit loop
case 'o'://if val is character 'o'，program will circulate
servo_10.write(0);//set servo connected to digital 10 to 0°
delay(500);
break;//exit loop
case 'p'://if val is character 'p'，program will circulate
digitalWrite(5, HIGH); //set digital 5 to high level, LED is on
break;//exit loop
case 'q'://if val is character 'q'，program will circulate
digitalWrite(5, LOW); // set digital 5 to low level, LED is off
break;//exit loop
case 'r'://if val is character 'r'，program will circulate
digitalWrite(7, LOW);
digitalWrite(6, HIGH); //fan rotates anticlockwise at the fastest speed
break;//exit loop
case 's'://if val is character 's'，program will circulate
digitalWrite(7, LOW);
digitalWrite(6, LOW); //fan stops rotating
break;//exit loop
}
}
////////////////////////set birthday song//////////////////////////////////
void birthday()
{
tone(3, 294); //digital 3 outputs 294HZ sound
delay(250);//delay in 250ms
tone(3, 440);
delay(250);
tone(3, 392);
delay(250);
tone(3, 532);
delay(250);
tone(3, 494);
delay(500);
tone(3, 392);
delay(250);
tone(3, 440);
delay(250);
tone(3, 392);
delay(250);
tone(3, 587);
delay(250);
tone(3, 532);
delay(500);
tone(3, 392);
delay(250);
tone(3, 784);
delay(250);
tone(3, 659);
delay(250);
tone(3, 532);
delay(250);
tone(3, 494);
delay(250);
tone(3, 440);
delay(250);
tone(3, 698);
delay(375);
tone(3, 659);
delay(250);
tone(3, 532);
delay(250);
tone(3, 587);
delay(250);
tone(3, 532);
delay(500);
}
//detect gas
void auto_sensor() {
gas = analogRead(A0);//assign the analog value of A0 to gas
if (gas > 700) {
//if variable gas>700
flag = 1;//set variable flag to 1
while (flag == 1)
//if flag is 1, program will circulate
{
Serial.println("danger");//output "danger" in new lines
tone(3, 440);
delay(125);
delay(100);
noTone(3);
delay(100);
tone(3, 440);
delay(125);
delay(100);
noTone(3);
delay(300);
gas = analogRead(A0);//gas analog the value of A0 to gas
if (gas < 100) //if variable gas is less than 100
{
flag = 0;//set variable flag to 0
break;//exit loop exist to loop
}
}
} else
//otherwise
{
noTone(3);// digital 3 stops playing music
}
light = analogRead(A1);////Assign the analog value of A1 to light
if (light < 300)//if variable light is less than 300
{
infrar = digitalRead(2);//assign the value of digital 2 to infrar
Serial.println(infrar);//output the value of variable infrar in new lines
if (infrar == 1)
// if variable infra is 1
{
digitalWrite(13, HIGH); //set digital 13 to high level, LED is on
} else//Otherwise
{
digitalWrite(13, LOW); //set digital 13 to low level, LED is off
}
}
water = analogRead(A3);//assign the analog value of A3 to variable water
if (water > 800)
// if variable water is larger than 800
{
flag2 = 1;//if variable flag 2 to 1
while (flag2 == 1)
// if flag2 is 1, program will circulate
{
Serial.println("rain");//output "rain" in new lines
servo_10.write(180);// set the servo connected to digital 10 to 180°
delay(300);//delay in 300ms
delay(100);
water = analogRead(A3);;//assign the analog value of A3 to variable water
if (water < 30)// if variable water is less than 30
{
flag2 = 0;// set flag2 to 0
break;//exit loop
}
}
} else//Otherwise
{
if (val != 'u' && val != 'n')
//if val is not equivalent 'u' either 'n'
{
servo_10.write(0);//set servo connected to digital 10 to 0°
delay(10);
}
}
soil = analogRead(A2);//assign the analog value of A2 to variable soil
if (soil > 50)
// if variable soil is greater than 50
{
flag3 = 1;//set flag3 to 1
while (flag3 == 1)
//If set flag3 to 1, program will circulate
{
Serial.println("hydropenia ");//output "hydropenia " in new lines
tone(3, 440);
delay(125);
delay(100);
noTone(3);
delay(100);
tone(3, 440);
delay(125);
delay(100);
noTone(3);//digital 3 stops playing sound
delay(300);
soil = analogRead(A2);//Assign the analog value of A2 to variable soil
if (soil < 10)//If variable soil<10
{
flag3 = 0;//set flag3 to 0
break;//exit loop
}
}
} else//Otherwise
{
noTone(3);//set digital 3 to stop playing music
}
door();//run subroutine
}
void door() {
button1 = digitalRead(4);// assign the value of digital 4 to button1
button2 = digitalRead(8);//assign the value of digital 8 to button2
if (button1 == 0)//if variablebutton1 is 0
{
delay(10);//delay in 10ms
while (button1 == 0) //if variablebutton1 is 0，program will circulate
{
button1 = digitalRead(4);// assign the value of digital 4 to button1
btn1_num = btn1_num + 1;//variable btn1_num plus 1
delay(100);// delay in 100ms
}
}
if (btn1_num >= 1 && btn1_num < 5) //1≤if variablebtn1_num<5
{
Serial.print(".");
Serial.print("");
passwd = String(passwd) + String(".");//set passwd
pass = String(pass) + String(".");//set pass
//LCD shows pass at the first row and column
mylcd.setCursor(1 - 1, 2 - 1);
mylcd.print(pass);
}
if (btn1_num >= 5)
//if variablebtn1_num ≥5
{
Serial.print("-");
passwd = String(passwd) + String("-");//Set passwd
pass = String(pass) + String("-");//set pass
//LCD shows pass at the first row and column
mylcd.setCursor(1 - 1, 2 - 1);
mylcd.print(pass);
}
if (button2 == 0) //if variablebutton2 is 0
{
delay(10);
if (button2 == 0)//if variablebutton2 is 0
{
if (passwd == ".--.-.")//if passwd is ".--.-."
{
mylcd.clear();//clear LCD screen
//LCD shows "open!" at first character on second row
mylcd.setCursor(1 - 1, 2 - 1);
mylcd.print("open!");
servo_9.write(100);//set servo connected to digital 9 to 100°
delay(300);
delay(5000);
passwd = "";
pass = "";
mylcd.clear();//clear LCD screen
//LCD shows "password:"at first character on first row
mylcd.setCursor(1 - 1, 1 - 1);
mylcd.print("password:");
} else //Otherwise
{
mylcd.clear();//clear LCD screen
//LCD shows "error!"at first character on first row
mylcd.setCursor(1 - 1, 1 - 1);
mylcd.print("error!");
passwd = "";
pass = "";
delay(2000);
//LCD shows "again" at first character on first row
mylcd.setCursor(1 - 1, 1 - 1);
mylcd.print("again");
}
}
}
infrar = digitalRead(2);//assign the value of digital 2 to infrar
if (infrar == 0 && (val != 'l' && val != 't'))
//if variable infrar is 0 and val is not 'l' either 't'
{
servo_9.write(0);//set servo connected to digital 9 to 0°
delay(50);
}
if (button2 == 0)//if variablebutton2 is 0
{
delay(10);
while (button2 == 0) //if variablebutton2 is 0，program will circulate
{
button2 = digitalRead(8);//assign the value of digital 8 to button2
btn2_num = btn2_num + 1;//variable btn2_num plus 1
delay(100);
if (btn2_num >= 15)//if variablebtn2_num ≥15
{
tone(3, 532);
delay(125);
mylcd.clear();//clear LCD screen
//LCD shows "password:" at the first character on first row
mylcd.setCursor(1 - 1, 1 - 1);
mylcd.print("password:");
//LCD shows "wait" at the first character on first row
mylcd.setCursor(1 - 1, 1 - 1);
mylcd.print("wait");
} else//Otherwise
{
noTone(3);//digital 3 stops playing music
}
}
}
btn1_num = 0;//set btn1_num to 0
btn2_num = 0;//set btn2_num to 0
}
// Birthday song
void music1() {
birthday();
}
//Ode to joy
void music2() {
Ode_to_Joy();
}
void Ode_to_Joy()//play Ode to joy song
{
for (int x = 0; x < length; x++)
{
tone(tonepin, tune[x]);
delay(300 * durt[x]);
}
}
//PWM control
void pwm_control() {
switch (val)
{
case 't'://if val is 't'，program will circulate
servo1 = Serial.readStringUntil('#');
servo1_angle = String(servo1).toInt();
servo_9.write(servo1_angle);//set the angle of servo connected to digital 9 to servo1_angle
delay(300);
break;//exit loop
case 'u'://if val is 'u'，program will circulate
servo2 = Serial.readStringUntil('#');
servo2_angle = String(servo2).toInt();
servo_10.write(servo2_angle);//set the angle of servo connected to digital 10 to servo2_angle
delay(300);
break;//exit loop
case 'v'://if val is 'v'，program will circulate
led2 = Serial.readStringUntil('#');
value_led2 = String(led2).toInt();
analogWrite(5, value_led2); //PWM value of digital 5 is value_led2
break;//exit loop
case 'w'://if val is 'w'，program will circulate
fans_char = Serial.readStringUntil('#');
fans_val = String(fans_char).toInt();
digitalWrite(7, LOW);
analogWrite(6, fans_val); //set PWM value of digital 6 to fans_val，the larger the value, the faster the fan
break;//exit loop
}
}