// For GUI Developer
// You need to send following characters to perform an action
// Send character 'a' to actiavte servo
// Send character 'b' to de-actiavte servo
// Send character 'c' to activate/de-actiavte visible laser lights
// Send character 'd' to de-actiavte Horn Relay and LED
/////////////////////////////////////////////////////////////////
#include "Button2.h" // Include button2 library to handle button presses
#include <Servo.h>
/////////////////////////////////////////////////////////////////
Button2 servoBtn; // Button to engage Servo on button press
Button2 visibleLaserBtn; // Button to turn on/off visible laser light
Button2 blowerRelayBtn; // Button to turn on/off Blower Relay
Servo servo;
// Button Pins
const byte emergency_stop_btn = 2; // (Don't Change it from 2) Emergency Stop button pin
const byte servo_btn_pin = 3; // Servo button pin to activate/deactivate laser button
const byte visible_laser_btn_pin = 4; // button pin to activate/deactivate visibl laser light
const byte blower_btn_pin = 5; // Blower Relay Button Pin
// Define pin connections
const int visible_laser_led_pin = 6; // When activated, a LED will be on constantly (VISIBLE LASER ON)
const int visible_laser_light_1 = 7; // Visible Laser Light 1 Pin
const int visible_laser_light_2 = 8; // Visible Laser Light 2 Pin
const int servo_pin = 9;
const int blower_relay_pin = 10; // Blower Relay Pin
const int blower_led_pin = 11; // Led Attached with Blower Relay
const int system_ready_led_pin = 12; // Led pin for sysmte Ready
const int emergency_stop_led_pin = 14; // We will use A0 pin (led if emergency stop is pressed)
const int cleaning_laser_led_pin = 15; // We will use A1 pin (Cleaning Laser Cycle Led pin)
const int buzzer_pin = 16; // We will use A2 pin (Buzzer Pon)
// State variables
bool servo_active = false;
bool visible_laser_state = false;
bool blower_state = false;
volatile bool emergency_stop = false; // Mark as volatile for ISR use
volatile unsigned long emergencyBtnPressTime = 0; // Variable that hold the time when emergency button was pressed to avoid debounce
// Define servo angles
int initial_angle = 90;
int press_angle = 45;
// Interrupt Service Routine (ISR) for emergency stop
void emergencyStopISR() {
if ((millis() - emergencyBtnPressTime) > 500) {
emergencyBtnPressTime = millis(); // Note emergency Button press time
emergency_stop = !emergency_stop; // Toggle emergency stop flag
}
}
void setup() {
Serial.begin(9600);
delay(50);
pinMode(visible_laser_light_1, OUTPUT); // Set Light pin as output
pinMode(visible_laser_light_2, OUTPUT); // Set Light pin as output
pinMode(visible_laser_led_pin, OUTPUT); // Set Light pin as output
pinMode(blower_relay_pin, OUTPUT); // Set Blower Relay pin as output
pinMode(blower_led_pin, OUTPUT); // Set Blower LED Pin as output
pinMode(system_ready_led_pin, OUTPUT);
setVisibleLaserLightState(visible_laser_state); // Set the visible laser state on lights
setBlowerState(blower_state);
servoBtn.begin(servo_btn_pin, INPUT_PULLUP);
servoBtn.setClickHandler(handler);
servoBtn.setDoubleClickHandler(handler);
visibleLaserBtn.begin(visible_laser_btn_pin, INPUT_PULLUP);
blowerRelayBtn.begin(blower_btn_pin, INPUT_PULLUP);
visibleLaserBtn.setPressedHandler(visibleBtnChange); // Add button press handler for visible laser button
blowerRelayBtn.setPressedHandler(blowerBtnChange); // Add button press handler for blower relay button
// Initialize servo and pins
servo.attach(servo_pin);
servo.write(initial_angle);
// Turn on system ready LED
digitalWrite(system_ready_led_pin, HIGH);
// Attach interrupt for the emergency stop button (assuming pin 3)
attachInterrupt(digitalPinToInterrupt(emergency_stop_btn), emergencyStopISR, FALLING);
}
// Main Loop that will run continuously
void loop() {
// If emergency stop is triggered, stop further actions
if (emergency_stop) {
digitalWrite(emergency_stop_led_pin, HIGH); // Turn on emergency light
// If any System is active deactivate it
if (servo_active) {
setServoRelatedComponents(initial_angle, LOW); // Reset servo angle and turn off related components
servo_active = false;
}
if (visible_laser_state) {
visible_laser_state = !visible_laser_state; // Change visible laser states
setVisibleLaserLightState(visible_laser_state); // Set the visible laser state on lights
}
if (blower_state) {
blower_state = !blower_state; // Toggle Blower state on button press
setBlowerState(blower_state); // Set the current blower state for blower relay and led
}
return;
}
digitalWrite(emergency_stop_led_pin, LOW); // Turn off emergency light
char incData; // Create an empty character variable to store incoming data
if (Serial.available() > 0) {
incData = Serial.read(); // Check if we have any incoming data available
switch (incData) {
case 'a':
if (servo_active == false) { // Check if we received 'a' and previously servo was not active activate it
servo_active = true;
setServoRelatedComponents(press_angle, HIGH); // Set servo to press angle and turn on related components
}
break;
case 'b':
if (servo_active == true) { // Check if we received 'b' and previously servo active, de-activate it
setServoRelatedComponents(initial_angle, LOW); // Reset servo angle and turn off related components
servo_active = false;
}
break;
case 'c':
visible_laser_state = !visible_laser_state; // Change visible laser states
setVisibleLaserLightState(visible_laser_state); // Set the visible laser state on lights
break;
case 'd':
blower_state = !blower_state; // Toggle Blower state on button press
setBlowerState(blower_state); // Set the current blower state for blower relay and led
break;
}
}
servoBtn.loop(); // keep checking state of servo button
visibleLaserBtn.loop(); // keep checking state
blowerRelayBtn.loop(); // keep checking state
}
void visibleBtnChange(Button2& btn) {
Serial.println("Visible Btn pressed");
visible_laser_state = !visible_laser_state; // Change visible laser states
setVisibleLaserLightState(visible_laser_state); // Set the visible laser state on lights
}
void blowerBtnChange(Button2& btn) {
Serial.println("Blower Btn pressed");
blower_state = !blower_state; // Toggle Blower state on button press
setBlowerState(blower_state); // Set the current blower state for blower relay and led
}
void setVisibleLaserLightState(bool state) {
digitalWrite(visible_laser_light_1, state); // Get the state and set it on visible laser light
digitalWrite(visible_laser_light_2, state); // Get the state and set it on visible laser light
digitalWrite(visible_laser_led_pin, state); //When activated, a LED will be on constantly (VISIBLE LASER ON)
}
void setBlowerState(bool state) {
digitalWrite(blower_relay_pin, state);
digitalWrite(blower_led_pin, state);
}
void setServoRelatedComponents(int servoAngle, bool state) {
servo.write(servoAngle); // Set servo angle according to button press
digitalWrite(cleaning_laser_led_pin, state); // Set laser led state according to button press for servo
digitalWrite(buzzer_pin, state); // Set buzzer state according to button press for servo
}
/////////////////////////////////////////////////////////////////
void handler(Button2& btn) { // This handler is used to handl single and double button press for servo
switch (btn.getType()) {
case single_click:
setServoRelatedComponents(initial_angle, LOW); // Reset servo angle and turn off related components
servo_active = false;
break;
case double_click:
servo_active = true;
setServoRelatedComponents(press_angle, HIGH); // Set servo to press angle and turn on related components
break;
case empty:
return;
}
}
/////////////////////////////////////////////////////////////////