pitinhas.ino

// Arduino pin config
#define PIN_M1  5
#define PIN_M2  4                                                                                                               
#define PIN_M3  3                                                                                                               
#define PIN_M4  2
#define PIN_LDR A4
#define PIN_HES A7                                                                                                               

// LDR config
#define LDR_DAY 100
#define LDR_NIGHT 110
#define LDR_TEST_SECONDS 10
#define LDR_TEST_COUNT 18

//////////////////////////////////////////////////
// end of config
//////////////////////////////////////////////////


// other defines
#define DIR_OPEN -1
#define DIR_CLOSE 1



//////////////////////////////////////////////////
// motor movement
//////////////////////////////////////////////////

const int motor_steps[][4] = {  
  {HIGH, LOW , LOW , LOW },
  {HIGH, HIGH, LOW , LOW },
  {LOW , HIGH, LOW , LOW },
  {LOW , HIGH, HIGH, LOW },
  {LOW , LOW , HIGH, LOW },
  {LOW , LOW , HIGH, HIGH},
  {LOW , LOW , LOW , HIGH},
  {HIGH, LOW , LOW , HIGH}
};

void motorStep(int dir) {

  static int motor_step_idx = 0;

  motor_step_idx += dir;
  motor_step_idx = (motor_step_idx + 8) % 8;
  
  digitalWrite(PIN_M1, motor_steps[motor_step_idx][0]);
  digitalWrite(PIN_M2, motor_steps[motor_step_idx][1]);
  digitalWrite(PIN_M3, motor_steps[motor_step_idx][2]);
  digitalWrite(PIN_M4, motor_steps[motor_step_idx][3]);
}


//////////////////////////////////////////////////
// light detection
//////////////////////////////////////////////////

bool testIsDay() {

  static bool isDay = true;
  static int ldr_last[LDR_TEST_COUNT];
  static int ldr_last_idx = 0;
  static long ldr_last_millis = millis();

  long now = millis();
  if (now > ldr_last_millis && // avoid millis() overflow
      now - ldr_last_millis > LDR_TEST_SECONDS * 1000) {

    ldr_last_millis = now;
    int ldr_val = analogRead(PIN_LDR);

    ldr_last[ldr_last_idx++] = ldr_val;
    if (ldr_last_idx == LDR_TEST_COUNT) {

      ldr_last_idx = 0;
      
      int avg = 0;
      for (int i = 0; i < LDR_TEST_COUNT; i++) avg += ldr_last[i]; 
      avg /= LDR_TEST_COUNT;

      if (isDay && (avg > LDR_NIGHT))
        isDay = false;
      else if (!isDay && (avg < LDR_DAY))
        isDay = true;
    }
  }

  return isDay;
}


//////////////////////////////////////////////////
// door limits
//////////////////////////////////////////////////

bool testDoorIsOpen() {

  // TODO: HES sensor
}

bool testDoorIsClosed() {

  // TODO: motor steps?
}


//////////////////////////////////////////////////
// main program
//////////////////////////////////////////////////

void setup() {
  Serial.begin(9600);
  pinMode(PIN_M1, OUTPUT);
  pinMode(PIN_M2, OUTPUT);
  pinMode(PIN_M3, OUTPUT);
  pinMode(PIN_M4, OUTPUT);
  pinMode(PIN_LDR, INPUT_PULLUP);
  pinMode(PIN_HES, INPUT);
}


void loop() {

  int direction = (testIsDay() ? DIR_OPEN : DIR_CLOSE);

  if (!testDoorIsOpen() && direction == DIR_OPEN) {
    
    // TODO: activate buzzers

    motorStep(DIR_OPEN);

  } else if (!testDoorIsClosed() && direction == DIR_CLOSE) {

    motorStep(DIR_CLOSE);
  }

  // don't burn the CPU
  delay(50);
}