#include <EEPROM.h&gt

(1)

#include <OneWire.h>

#include <Wire.h>

#include <math.h>

#include <EEPROM.h>

#define IO_ADDR (0x70 >> 1) // adresa PCF8574 int ASCII_dec=0x30;// const ASCII

byte cyklus=0;

float sensorLight = 0; //def A1 int sensorLocation=0;//def A2 float sensorAkuCharging = 0;//def A3

int previousLocation;

byte lastLocation;

int speedRotate=255;

byte revolutionCounter;

bool startControl =false;

bool konec=false,konec2=false;

int STOPRight=0, STOPLeft=0;

bool pokus=true;

// inByte;

//A4 SDA //A5 SCL

//Pin0 Rx //Pin1 Tx

int DS18S20_Pin = 2; //DS18S20 Signal pin digital 2 OneWire ds(DS18S20_Pin);

//int sensorPosition1Switch_Pin; //zapínání kodér 1

(2)

int sensorPosition1Detect_Pin=3;

//int sensorPosition2Switch_Pin;//zapínání kodér 2 int sensorPosition2Detect_Pin=4;

int speedRotate_Pin=9;

int rightRotate_Pin=8;

int leftRotate_Pin=7;

int senzorintDistanceEcho_Pin=10; //vzdálenost int senzorintDistanceTrigr_Pin=11; //vzdálenost //int cameraSwitch_Pin=15;//zapínání kodér 16 //int IRlightSwitch_Pin=16;//zapínání kodér 32

/////////////////////////////////////// Orientation rotate ///////////////////////////////////////

void rotateRight() {

digitalWrite(rightRotate_Pin, LOW);// Vpravo maximalni rychlosti digitalWrite(leftRotate_Pin, HIGH);

analogWrite(speedRotate_Pin,255) ; }

void rotateLeft() {

digitalWrite(rightRotate_Pin, HIGH);// Vlevo maximalni rychlosti digitalWrite(leftRotate_Pin, LOW);

analogWrite(speedRotate_Pin,255) ;

}

(3)

void rotateRightvalue() {

digitalWrite(rightRotate_Pin, LOW);// Vpravo zadanou rychlosti digitalWrite(leftRotate_Pin, HIGH);

analogWrite(speedRotate_Pin,speedRotate) ; }

void rotateLeftvalue() {

digitalWrite(rightRotate_Pin, HIGH);// Vlevo zadanou rychlosti digitalWrite(leftRotate_Pin, LOW);

analogWrite(speedRotate_Pin,speedRotate) ; }

/////////////////////////////////////// Sensors functions ///////////////////////////////////////

float getDistance() {

digitalWrite(senzorintDistanceTrigr_Pin, LOW);

delayMicroseconds(2);

digitalWrite(senzorintDistanceTrigr_Pin, HIGH);

delayMicroseconds(10);

digitalWrite(senzorintDistanceTrigr_Pin, LOW);

float distance = pulseIn(senzorintDistanceEcho_Pin, HIGH);

distance= distance*0.017315f; //c = 331,8+0,61∙t return distance;

}

float getLight() {

sensorLight= analogRead(A1);

(4)

float light = 3621.5*(pow((sensorLight) * (5.0 / 1023.0),(-3.9)));

return light;

}

float getLocation() {

sensorLocation= analogRead(A2);

float location = sensorLocation * (5.0 / 1023.0);

return location;

}

float getAkuCharging() {

sensorAkuCharging =analogRead(A3);

float akuCharging = sensorAkuCharging * (5.0 / 1023.0);

return akuCharging;

}

float getTemp(){//vrati teplotu ve °C

byte data[12];

byte addr[8];

if (!ds.search(addr)) {

ds.reset_search();

return -1000; //kontroluje senzory v retezci }

ds.reset();

(5)

ds.select(addr); //

ds.write(0x44,1); // zahájí prevod dig. hodnoty

byte present = ds.reset();

ds.select(addr);

ds.write(0xBE); //

for (int i = 0; i < 9; i++) { // cyklus zapisujici 9 bitu data[i] = ds.read();

}

ds.reset_search();

byte MSB = data[1]; //zapsani nejvýznamnějšího a nejméněvyznamného bitu byte LSB = data[0];

float tempRead = ((MSB << 8) | LSB); //Dvojkový doplněk float TemperatureSum = tempRead / 16;

return TemperatureSum;

}

/////////////////////////////////////// Detect position ///////////////////////////////////////

void CheckRC() {

if(startControl ==true && revolutionCounter>=5) //&& inByte !=60) {

STOPRight=1;

digitalWrite(rightRotate_Pin, LOW);// STOP digitalWrite(leftRotate_Pin, LOW);

}

(6)

else{STOPRight=0;}

if(revolutionCounter<=1)//&& inByte !=62 ) {

STOPLeft=1;

}

else{STOPLeft=0;}

}

void LocationRightself() {

while(konec2) {

preruseni();

LocationRight();

CheckRC();

} }

void LocationLeftself() {

while(konec2) {

preruseni();

LocationLeft();

CheckRC();

} }

void LocationRight()

(7)

{

preruseni();

cyklus ++;

sensorLocation = analogRead(A2); //senzor natoceni jednotlive polohy PIR delay(2);

if (cyklus==1){previousLocation=analogRead(A2);}

if (cyklus==2) {

if(lastLocation==4) {

if(sensorLocation-previousLocation < -20) // odečitani předchozi hodnoty cyklu průser poladit!!!!

{

EEPROM.write(0,1);

lastLocation=1;

//Serial.println("P1");

revolutionCounter++;

EEPROM.write(2,revolutionCounter);

delay(10);

} }

cyklus=0;

}

if (sensorLocation > 292 & sensorLocation < 295) {

EEPROM.write(0,2);

lastLocation=2;

delay (20);

(8)

}

EEPROM.write(0,3);

lastLocation=3;

delay (20);

}

EEPROM.write(0,4);

lastLocation=4;

// Serial.println("P4");

delay (20);

} }

void LocationLeft() {

preruseni();

cyklus++;

sensorLocation = analogRead(A2); //senzor natoceni jednotlive polohy PIR

if (cyklus==1){previousLocation=analogRead(A2);}

if (cyklus==2) {

if(lastLocation==2)//if (sensorLocation-previousLocation < -10 ) // odečitani předchozi hodnoty cyklu

{

(9)

if (sensorLocation-previousLocation < -10 ) //naprosto v pořádku {

EEPROM.write(0,1);

lastLocation=1;

revolutionCounter--;

EEPROM.write(2,revolutionCounter);

delay(30);

} }

cyklus=0;

}

EEPROM.write(0,2);

lastLocation=2;

delay (20);

}

EEPROM.write(0,3);

lastLocation=3;

delay (20);

}

(10)

EEPROM.write(0,4);

lastLocation=4;

delay (20);

} }

///////////////////////////////////////Start sequence ///////////////////////////////////////

void start() {

//Serial.println("start");

startControl=false;

int escape=0;

delay(5);

Wire.beginTransmission(IO_ADDR);

delay(5);

Wire.write(escape);

delay(5);

Wire.endTransmission();

lastLocation=EEPROM.read(0); //nacteni posledni ulozene pozice revolutionCounter=EEPROM.read(2);

if (lastLocation>4) //osetreni podminky pri prvnim spusteni {

rotateRight();

while(lastLocation!=1) {

LocationRight();

}

(11)

revolutionCounter=3; //nastaveni poctu otacek v polovine dovoleneho rozsahu startControl=true;

analogWrite(speedRotate_Pin, 0) ; lastLocation=1;

}

if (lastLocation <=4 & revolutionCounter>3) {

/* digitalWrite(rightRotate_Pin, HIGH);// Vlevo maximalni rychlosti digitalWrite(leftRotate_Pin, LOW);

analogWrite(speedRotate_Pin,255);// speedRotate) ; */

rotateLeft();

while(revolutionCounter!=3) {

LocationLeft();

}

startControl =true;

analogWrite(speedRotate_Pin, 0);

lastLocation=1;

}

if (lastLocation <=4 & revolutionCounter<3) {

/* digitalWrite(rightRotate_Pin, LOW);// Vpravo maximalni rychlosti digitalWrite(leftRotate_Pin, HIGH); Proč to ksakru nejde?????

analogWrite(speedRotate_Pin,255);//speedRotate) ;*/

rotateRight();

while(revolutionCounter!=3) {

LocationRight();

(12)

}

startControl =true;

analogWrite(speedRotate_Pin, 0) ; lastLocation=1;

}

startControl =true;

}

///////////////////////////////////////Inter. sequence ///////////////////////////////////////

void preruseni() {

if ( startControl==true) {

CheckRC();

}

int inByte = Serial.read();

delay(5);

switch(inByte)

{ case 69: konec=false; selectControl();

break;

case 57: konec2=false;speedRotate=0;

break;

case 40: Serial.println(revolutionCounter);

break;

} }

(13)

////////////////////////////////////////////////////////////////Reset mC ///////////////////////////////////////////////////////////////////

void Reset()

{asm volatile(" jmp 0");}

////////////////////////////////////////////////////////////////Select Control ///////////////////////////////////////////////////////////////////

void selectControl() {//startControl

=true;//*********************************************************************SMAZAT pouze pro testování!!!

if (startControl==true & Serial.available() > 0) //po startovni sekvenci vyber modu {

char inSelectMode = Serial.read();

switch (inSelectMode) {

case 65: automaticMode();

break;

case 83: selfControl();

break;

} } }

void automaticMode() {

konec=true;

speedRotate=255;

(14)

Serial.println("Auto");

bool sensorPosition1, sensorPosition2, sensorPosition3, sensorPosition4;

int expanderWrite=64;

while(konec) {

while (expanderWrite>=64) {

int inByte = Serial.read();

switch(inByte) {

case 47:

int expanderRead10 =0; int expanderRead01=0 ; delay(5);

expanderRead10 = Serial.read() - ASCII_dec;

delay(5);

expanderRead01 = Serial.read() - ASCII_dec;

expanderWrite = expanderRead10 *10 + expanderRead01;

delay(5);

Wire.write(expanderWrite);

delay(5);

sensorPosition1= expanderWrite % 2;

expanderWrite = expanderWrite / 2;

(15)

delay(75000);//uklidnění senzorů }

}

if( digitalRead(sensorPosition1Detect_Pin)==LOW && sensorPosition1!=0) { Serial.println("DP1");

preruseni();

if (lastLocation==1){break;}

if((lastLocation==3 | lastLocation==4)&&lastLocation!=1 ) {preruseni();

if(revolutionCounter<5 && lastLocation!=1) {preruseni();

rotateRight();

LocationRight();

preruseni();

}

lastLocation=1;

analogWrite(speedRotate_Pin, 0) ; delay(2000);

}

if(revolutionCounter>=5 && lastLocation!=1) {preruseni();

rotateLeft();

LocationLeft();

preruseni();

(16)

}

lastLocation=1;

analogWrite(speedRotate_Pin, 0) ; delay(2000);preruseni();

} }

if((lastLocation=2 | sensorLocation <= 440)&&lastLocation!=1 ) {preruseni();

if(revolutionCounter>1 && lastLocation!=1) {preruseni();

rotateLeft();

while(lastLocation!=1) //|| pokus) {

LocationLeft();

preruseni();

delay(5);

}

lastLocation=1;

analogWrite(speedRotate_Pin, 0) ; delay(2000); preruseni();

}

if(revolutionCounter<=1 && lastLocation!=1) {preruseni();

rotateRight();

LocationRight();

preruseni();

(17)

}

lastLocation=1;preruseni();

analogWrite(speedRotate_Pin, 0) ;preruseni();

delay(2000);

} } }

preruseni();

if((lastLocation==4 | lastLocation==1 )&& lastLocation!=2) {preruseni();

if(revolutionCounter<5) {preruseni();

rotateRight();

LocationRight();

preruseni();

}

delay(2000);

}

preruseni();

rotateLeft();

while(lastLocation!=2)

(18)

{

LocationLeft();

preruseni();

}

delay(2000);

} }

if((lastLocation=3 | sensorLocation < 755 )&& lastLocation!=2) {preruseni();

rotateLeft();

LocationLeft();

preruseni();

}

delay(2000);

}preruseni();

if(revolutionCounter<=1 && lastLocation!=2) {preruseni();

rotateRight();

LocationRight();

preruseni();

}

(19)

delay(2000);

} } }

preruseni();

if((lastLocation==1 | lastLocation==2) && lastLocation!=3) {preruseni();

rotateRight();

LocationRight();

preruseni();

}

analogWrite(speedRotate_Pin, 0) ; preruseni();

delay(2000);

}

rotateLeft();

LocationLeft();

preruseni();

(20)

}

delay(2000);

} }

if(lastLocation=4 ) {preruseni();

rotateLeft();

LocationLeft();

preruseni();

}

delay(2000);

}

if(revolutionCounter<=1) {preruseni();

rotateRight();

while(lastLocation!=3 && lastLocation!=3) {

LocationRight();

preruseni();

}

delay(2000);

}

(21)

} }

preruseni();

if((lastLocation==2 | lastLocation==3) && lastLocation!=4) {preruseni();

rotateRight();

LocationRight();

preruseni();

}

delay(2000);

}

if(revolutionCounter>=5) {preruseni();

rotateLeft();

LocationLeft();

preruseni();

}

delay(2000);

(22)

} }

if(lastLocation=1 ) {preruseni();

rotateLeft();

preruseni();

LocationLeft();

preruseni();

}

delay(2000);

}

if(revolutionCounter<=1) {preruseni();

rotateRight();

LocationRight();

preruseni();

}

delay(2000);preruseni();

} }

(23)

} }

selectControl();

}

void selfControl() { Serial.println("self");

konec =true;

float sensorTemperature = getTemp();// prichozi 0 v C# 1 pozor zmenit float sensorLight = getLight();// prichozi 1 v C# 2 pozor zmenit

float sensorLocation = getLocation(); //prichozi 2 v C# 9

float sensorAkuCharging = getAkuCharging();//prichozi 3 v C# 0 float sensorDistance = getDistance();//prichozi :

char inByte;

while(konec){

if(revolutionCounter>=5 && inByte !=60) {

STOPRight=1;

}

else{STOPRight=0;}

if(revolutionCounter<=1 && inByte !=62) {

STOPLeft=1;

}

(24)

else{STOPLeft=0;}

if (Serial.available() > 0) {

inByte = Serial.read();

//delay(5);

switch (inByte) {

case 47: // / a dvojice 00-32 nastavuje koder

int expanderRead10,expanderRead01 = 0, expanderWrite=0;

expanderRead10 = Serial.read()-ASCII_dec;

expanderRead01 = Serial.read()-ASCII_dec;

expanderWrite = expanderRead10 *10 + expanderRead01;

Wire.write(expanderWrite);

break;

}

switch (inByte) {

break;

case 48: Serial.println(sensorTemperature); //0 break;

(25)

case 49: Serial.println(sensorLight); //1 break;

case 50: Serial.println(sensorLocation);//2(sensorLocation);

break;

case 51: Serial.println(sensorAkuCharging);//3 break;

case 52: analogWrite(speedRotate_Pin, 158) ;//4 speedRotate=158;

break;

case 57: analogWrite(speedRotate_Pin, 0);

(26)

speedRotate=0;

konec2=false;//9 break;

case 58: Serial.println(sensorDistance);

break;

case 60: // digitalWrite(rightRotate_Pin, HIGH);// >

//digitalWrite(leftRotate_Pin, LOW);

rotateLeftvalue();

konec2=true;

LocationLeftself();

break;

case 62: //digitalWrite(rightRotate_Pin, LOW);//<

//digitalWrite(leftRotate_Pin, HIGH);

rotateRightvalue();

konec2=true;

LocationRightself();

break;

case 69: konec=false;

break;

case 82: Reset();

break;

}

(27)

}

}selectControl();

}

void setup(void) {

Serial.begin(9600);

Wire.begin();//inicializace expanderu

OneWire ds(DS18S20_Pin); // on digital pin 2 pinMode(sensorPosition1Detect_Pin, INPUT);

pinMode(sensorPosition2Detect_Pin, INPUT);

pinMode(sensorPosition3Detect_Pin, INPUT);

pinMode(sensorPosition4Detect_Pin,INPUT);

pinMode(speedRotate_Pin,OUTPUT);

pinMode(rightRotate_Pin,OUTPUT);

pinMode(leftRotate_Pin,OUTPUT);

pinMode(senzorintDistanceEcho_Pin,INPUT);

pinMode(senzorintDistanceTrigr_Pin,OUTPUT);

lastLocation=EEPROM.read(0);

revolutionCounter=EEPROM.read(2);

Serial.println(lastLocation);

Serial.println(revolutionCounter);

}

void loop(void) {

(28)

start();

selectControl();

}

#include &lt;EEPROM.h&gt

#include <EEPROM.h&gt