winder.ino

#include <AccelStepper.h>
#define dirPin 2
#define stepPin 3
#define motorInterfaceType 1
AccelStepper stepper = AccelStepper(motorInterfaceType, stepPin, dirPin);

#define trigPin 4
#define echoPin 5
long duration; // variable for the duration of sound wave travel
int distance; // variable for the distance measurement

#include <TM1637.h>
#define clk 6
#define dio 7
TM1637 tm(clk, dio);

const int numReadings = 100;
int readings[numReadings];      // the readings from the analog input
int readIndex = 0;              // the index of the current reading
int total = 0;                  // the running total
int average = 0;                // the average

void setup()
{
  stepper.setMaxSpeed(1000);

  pinMode(trigPin, OUTPUT); // Sets the trigPin as an OUTPUT
  pinMode(echoPin, INPUT); // Sets the echoPin as an INPUT

  tm.init();
  tm.set(2); //set brightness; 0-7

  for (int thisReading = 0; thisReading < numReadings; thisReading++) {
    readings[thisReading] = 0;
  }
}

void loop() {
  digitalWrite(trigPin, LOW);
  delayMicroseconds(2);
  // Sets the trigPin HIGH (ACTIVE) for 10 microseconds
  digitalWrite(trigPin, HIGH);
  delayMicroseconds(10);
  digitalWrite(trigPin, LOW);
  // Reads the echoPin, returns the sound wave travel time in microseconds
  duration = pulseIn(echoPin, HIGH);
  // Calculating the distance
  distance = duration * 0.034 / 2; // Speed of sound wave divided by 2 (go and back)

  // subtract the last reading:
  total = total - readings[readIndex];
  // read from the sensor:
  readings[readIndex] = distance;
  // add the reading to the total:
  total = total + readings[readIndex];
  // advance to the next position in the array:
  readIndex = readIndex + 1;
  // if we're at the end of the array...
  if (readIndex >= numReadings) {
    // ...wrap around to the beginning:
    readIndex = 0;
  }
  // calculate the average:
  average = total / numReadings;

  int thisSpeed = -180 + (4 * average);
  stepper.setSpeed(thisSpeed);
  stepper.runSpeed();

  displayNumber(thisSpeed * -1);
}

void displayNumber(int num) {
  tm.display(3, num % 10);
  tm.display(2, num / 10 % 10);
  tm.display(1, num / 100 % 10);
  tm.display(0, num / 1000 % 10);
}