ard.cpp

#include <Ultrasonic.h>
#include <Servo.h>

#define DISTANCE_PIN 6
#define SERVO_PIN 7
#define SERVO2_PIN 10
#define PIN_MOVE 11

Ultrasonic ultrasonic(DISTANCE_PIN);
Servo focusServo; // create servo object to control a servo
Servo flapServo;

int focusPosition = 0; // variable to store the servo position
int flapPosition = 0;
const unsigned long MOVIE_TIME_SEC = 10000;

int delayLength = 30;
int stepnumber1 = 0;
bool stepperReset = false;
bool capteurReset = false;
int currentVideo = 0;

void setup() {
  Serial.begin(9600);
  focusServo.attach(SERVO_PIN);
  flapServo.attach(SERVO2_PIN);
  pinMode(PIN_MOVE, INPUT);

  pinMode(12, OUTPUT); //CH A -- HIGH = forwards and LOW = backwards???
  pinMode(13, OUTPUT); //CH B -- HIGH = forwards and LOW = backwards???
  
  //establish motor brake pins
  pinMode(9, OUTPUT); //brake (disable) CH A
  pinMode(8, OUTPUT); //brake (disable) CH B

}

void loop() {
/*
  if(!stepperReset) {
    // stepper aller a zero
    while(!capteurReset) {
      for (int steps = 0; capteurReset == true || steps < 25; steps +=1 ) {
         stepperRight();
      }
      for (int steps = 0; capteurReset == true || steps < 50; steps +=1 ) {
         stepperLeft();
      }
    }
    stepperReset = true;
  }
*/
  if(currentVideo == 0 /*&& digitalRead(PIN_MOVE) == HIGH*/) {
    Serial.println("//lecture capteur mouvement//");
    currentVideo = 1;
    Serial.println("fin etape 1");
  }

  if(currentVideo == 1) {
    Serial.println("Etape 2 debut");
    playVideo(2);
    Serial.println("Etape 2 fin");
  }
  
  if(currentVideo == 2) {
    Serial.println("E3 debut");
    Serial.println("moteur pas a pas bouge de 90 degrés");
    while(stepnumber1 < 13) {
      stepperRight();
      stepnumber1 +=1;
  } 
    Serial.println("joue la deuxieme video");
    playVideo(0);
    Serial.println("remet step reset en false pour remettre m.p.a.p en position 0");
    stepperReset = false;
    Serial.println("E3 fin");
  }
  delay(10);
}

void playVideo(int next) {

  Serial.println("attente du clap");
  int clap = analogRead(A5);
  if(clap >= 100) {  //si le niveau sonore est élevé
    Serial.println(clap);
    Serial.println("fait la mise au point");
    int angle = static_cast<int>(getServoAngle(ultrasonic.distanceRead()));
    rotateServo(focusPosition, angle, focusServo);
    Serial.println("ouvre le cache");
    openFlap();
    Serial.println("joue la video");
    delay(MOVIE_TIME_SEC);
    Serial.println("ferme le clap");
    closeFlap();
    currentVideo = next;
    Serial.println("passe a l'etape suivante");
  }
}

float getAngle(float distance) {
  return 13.74312 + (51.59477 - 13.74312)/(1 + pow(distance/142.6213, 4.404875));
}

float getServoAngle(float distance) { 
  return getAngle(distance) * 1.8;
}

void rotateServo(int servoPosition, int angle, Servo myservo) {
  while(servoPosition != angle) {
    if(servoPosition < angle) {
      servoPosition += 1;
    } else {
      servoPosition -= 1;
    }
    myservo.write(servoPosition);
    delay(15);
  }
}

void closeFlap() {
  rotateServo(flapPosition, 0, flapServo);
}

void openFlap() {
  rotateServo(flapPosition, 90, flapServo);  
}

void stepperRight() {
  digitalWrite(9, HIGH);  //DISABLE CH A
  digitalWrite(8, LOW); //ENABLE CH B

  digitalWrite(13, LOW);   //Sets direction of CH B
  analogWrite(11, 255);   //Moves CH B
  
  delay(delayLength);

  digitalWrite(9, LOW);  //ENABLE CH A
  digitalWrite(8, HIGH); //DISABLE CH B

  digitalWrite(12, HIGH);   //Sets direction of CH A
  analogWrite(3, 255);   //Moves CH A
  
  delay(delayLength);
     
  digitalWrite(9, HIGH);  //DISABLE CH A
  digitalWrite(8, LOW); //ENABLE CH B

  digitalWrite(13, HIGH);   //Sets direction of CH B
  analogWrite(11, 255);   //Moves CH B
  
  delay(delayLength);

  digitalWrite(9, LOW);  //ENABLE CH A
  digitalWrite(8, HIGH); //DISABLE CH B

  digitalWrite(12, LOW);   //Sets direction of CH A
  analogWrite(3, 255);   //Moves CH A
  
  delay(delayLength);
}

void stepperLeft() {
  
  digitalWrite(9, LOW);  //ENABLE CH A
  digitalWrite(8, HIGH); //DISABLE CH B

  digitalWrite(12, HIGH);   //Sets direction of CH A
  analogWrite(3, 255);   //Moves CH A
  
  delay(delayLength);
  
  digitalWrite(9, HIGH);  //DISABLE CH A
  digitalWrite(8, LOW); //ENABLE CH B

  digitalWrite(13, LOW);   //Sets direction of CH B
  analogWrite(11, 255);   //Moves CH B
  
  delay(delayLength);
  
  digitalWrite(9, LOW);  //ENABLE CH A
  digitalWrite(8, HIGH); //DISABLE CH B

  digitalWrite(12, LOW);   //Sets direction of CH A
  analogWrite(3, 255);   //Moves CH A
  
  delay(delayLength);
    
  digitalWrite(9, HIGH);  //DISABLE CH A
  digitalWrite(8, LOW); //ENABLE CH B

  digitalWrite(13, HIGH);   //Sets direction of CH B
  analogWrite(11, 255);   //Moves CH B
  
  delay(delayLength);
}