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en:arduino:examples [2017/07/25 08:14] – kaupo.raiden:arduino:examples [2020/07/20 12:00] (current) – external edit 127.0.0.1
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 +========= TTU Summer School programming =========
 +
 +
 +====== Project 1 Controlling LED with button  ======
 +
 +{{:et:arduino:buttons:projekt1.jpg?350|Arduino ühendusskeem}}
 +
 +===== Example #1.1 LED light up when button is pressed =====
 +
 +Theory: [[https://www.arduino.cc/en/Tutorial/DigitalPins|]].
 +
 +<code c>
 +/*
 +Example #1.1
 +*/
 +
 +/* Constants */
 +// Set button pin
 +const int button = A0; 
 +
 +// Set LED pin
 +const int led = 13; 
 +
 +/* Global variables */
 +// Holds the current state of button
 +int buttonState = 0; 
 +
 +void setup() 
 +{ 
 +  // Set LED pin to output
 +  pinMode(led, OUTPUT); 
 +  // Set button pin to input with internal pull-up activated
 +  pinMode(button, INPUT_PULLUP); 
 +}
 +
 +void loop()
 +{
 +  // Get the curren state of button pin
 +  buttonState = digitalRead(button); 
 +  // If button is pressed then turn on LED
 +  if (buttonState == LOW) 
 +  { 
 +    digitalWrite(led, HIGH);
 +  } 
 +  // All other cases turn LED off
 +  else 
 +  { 
 +   digitalWrite(led, LOW);
 +  }
 +}
 +</code>
 +
 +===== Example #1.2 Short push on the button makes LED light up for 1 second =====
 +
 +<code c>
 +/*
 +Example #1.2
 +*/
 +
 +// Setup is same with example #1.1
 +const int button = A0; 
 +const int led = 13; 
 +
 +int buttonState = 0; 
 +
 +void setup() 
 +{ 
 +  pinMode(led, OUTPUT); 
 +  pinMode(button, INPUT_PULLUP); 
 +}
 +
 +void loop()
 +{
 +  //  Get the curren state of button pin
 +  buttonState = digitalRead(button); 
 +  
 +  // When button is pressed then set LED on and halt program for 1 second
 +  if (buttonState == LOW) 
 +  { 
 +    digitalWrite(led, HIGH);
 +    delay(1000); // 1000 millisekundit ehk 1 sekund
 +  }
 +  // Turn LED off
 +  digitalWrite(led, LOW);
 +}
 +</code>
 +
 +===== Example #1.3 Short push on the button changes LED state =====
 +
 +<code c>
 +/*
 +Example #1.3
 +*/
 +
 +// Setup is same with example #1.1
 +const int button = A0; 
 +const int led = 13; 
 +
 +int buttonState = 0; 
 +
 +void setup() 
 +{ 
 +  pinMode(led, OUTPUT); 
 +  pinMode(button, INPUT_PULLUP); 
 +}
 +
 +void loop() 
 +{
 +  // When button is pressed and hold the program stays inside while(1) loop
 +  if (digitalRead(button) == LOW) 
 +    {
 +   // Debounce effect eliminator delay
 +    delay(50); 
 +    while (digitalRead(button) == LOW)
 +     { 
 +     }
 + // Invert LED current state
 +    digitalWrite(led, !digitalRead(led)); 
 +    
 +   // Debounce effect eliminator delay
 +    delay(50); 
 +    }
 +}
 +</code>
 +
 +
 +===== Exercises =====
 +=== Exercise #1.1 ===
 +Modify example so that on button press LED blinks 3 times.
 +=== Exercise #1.2 ===
 +Modify example so that on button press LED starts to blink with constant interval. Second press ends the blinking.
 +
 +
 +
 +====== Project 2 Controlling LED with potentiometer   ======
 +
 +{{:et:arduino:buttons:projekt2.jpg?400|}}
 +
 +===== Example #2.1 Potentiometer controls state of LED =====
 +
 +<code c>
 +/*
 +Example #2.1
 +*/
 +
 +// Set potentiometer pin
 +const int pot = A1; 
 +
 +// Set LED pin
 +const int led = 13; 
 +
 +// Holds potentiometer digital value
 +int potState = 0; 
 + 
 +void setup()
 +{
 +  // Set LED pin to output
 +  pinMode(led, OUTPUT);
 +}
 +
 +void loop() 
 +{
 +  // Get digital value of potentiometer
 +  potState = digitalRead(pot);
 +  
 +  // When potentiometer digital value is logical "true" then turn on LED
 +  if(potState > 0)
 +  {
 +    digitalWrite(led, HIGH);
 +  }
 +  // All other cases set LED off
 +  else
 +  {
 +    digitalWrite(led, LOW);
 +  }
 +}
 +</code>
 +
 +
 +===== Example #2.2 Controlling LED blinking frequency with potentiometer =====
 +
 +<code c>
 +/* 
 +Example #2.2
 +*/
 +
 +// Setup is same with example #2.1
 +const int pot = A1; 
 +const int led = 13; 
 +
 +int potState = 0; 
 + 
 +void setup()
 +{
 +  pinMode(led, OUTPUT);
 +}
 +
 +void loop() 
 +{
 +  // Get analog value of potentiometer
 +  potState = analogRead(pot); 
 +  
 +  // Turn LED on
 +  digitalWrite(led, HIGH); 
 +  
 +  // Halt the program for potentiometer analog value number of milliseconds
 +  delay(potState);  
 +  
 +  // Turn LED off
 +  digitalWrite(led, LOW); 
 +  
 +  // Halt the program for potentiometer analog value number of milliseconds
 +  delay(potState); 
 +}
 +</code>
 +
 +===== Example #2.3 Controlling LED brightness with potentiometer =====
 +
 +<code c>
 +/*
 +Example #2.3
 +*/
 +// Setup is same with example #2.1
 +
 +const int pot = A1; 
 +const int led = 13; 
 +int potState = 0; 
 + 
 +void setup()
 +{
 +  pinMode(led, OUTPUT);
 +}
 +
 +void loop() 
 +{
 +  // Get analog value of potentiometer
 +  potState = analogRead(pot); 
 +  
 +  // When potentiometer value is greater than 0 then set LED on halt program for short period
 +  if (potState > 0) 
 +  {
 +    digitalWrite(led, HIGH);
 +    delayMicroseconds(potState); 
 +  }
 +  
 +  // Turn LED off
 +  digitalWrite(led, LOW); 
 +  
 +  // Halt program for short period
 +  delayMicroseconds(1023 - potState); 
 +}
 +</code>
 +
 +===== Exercises =====
 +=== Exercise #2.2 ===
 +Control LED on and off time with potentiometer.
 +
 +====== Project 3 Alphabetical LCD  ======
 +
 +
 +===== Example #3.1 Writing on LCD screen =====
 +
 +Theory: https://www.arduino.cc/en/Reference/LiquidCrystal
 +
 +<code c>
 +/*
 +Example #3.1
 +*/
 +// Include LCD library
 +#include <LiquidCrystal.h> 
 +
 +// Create LCD object and set hardware connection pins
 +LiquidCrystal lcd(8, 9, 4, 5, 6, 7);
 +
 +void setup() 
 +{
 +  // Define LCD size
 +  lcd.begin(16, 2); 
 +  
 +  // Print out welcome message
 +  lcd.print("Hello World!"); 
 +}
 +
 +void loop() 
 +{
 +  // Change cursor position to second line
 +  lcd.setCursor(0, 1); 
 +  
 +  // Print out program working time in seconds
 +  lcd.print(millis()/1000); 
 +}
 +</code>
 +
 +
 +===== Example #3.2 Custom characters on LCD =====
 +
 +<code c>
 +/*
 +Example #3.2
 +*/
 +
 +#include <LiquidCrystal.h>
 +
 +LiquidCrystal lcd(8, 9, 4, 5, 6, 7);
 + 
 +  // Array to generate new character,
 +  // "0b" in front of the number tells the compiler that it's a binary number
 +byte customChar[8] = 
 +{
 +  0b11111,
 +  0b00000,
 +  0b01010,
 +  0b00000,
 +  0b10001,
 +  0b01110,
 +  0b00000,
 +  0b11111
 +};
 + 
 +void setup()
 +{
 +  // Load new character to LCD memory position "0"
 +  lcd.createChar(0, customChar); 
 +  
 +  // Define LCD size
 +  lcd.begin(16, 2); 
 + 
 +  // Display new custom character on LCD
 +  lcd.write((uint8_t)0);
 +}
 +void loop()
 +{
 +  // Do nothing
 +}
 +</code>
 +
 +===== Example #3.3 Reading LCD shield buttons =====
 +
 +
 +<code c>
 +/*
 +Nimetus: Example #3.3
 +Kirjeldus: Reading LCD shield buttons
 +*/
 +
 +#include <LiquidCrystal.h>
 +
 +
 +LiquidCrystal lcd(8, 9, 4, 5, 6, 7);
 +
 +// Define button states constants
 +const int RIGHT = 0;
 +const int UP    = 1;
 +const int DOWN  = 2;
 +const int LEFT  = 3;
 +const int SELECT = 4;
 +const int NONE  = 5;
 +
 +/* Global variables */
 +// Holds the value of pressed button
 +int pressedButton;
 +// Holds the value of analog input
 +int buttonValue;
 + 
 +void setup() 
 +{
 +  // Define LCD size
 +  lcd.begin(16, 2); 
 +  
 +  // Print explaining text
 +  lcd.print("ADC: ");
 +  
 +  // Print out analog input value
 +  lcd.print(analogRead(A0)); 
 +}
 +void loop() 
 +{
 +  // Calls out fucntion and saves returned value to variable
 +  pressedButton = checkButtons(); 
 +  
 +  // Check if there is a pressed button
 +  if(pressedButton < NONE)
 +  {
 +    lcd.clear(); // Clear LCD
 +    
 +    lcd.print("ADC: "); // Print out explaining text
 +    
 +    lcd.print(buttonValue); // Print out analog input value
 +    
 +    delay(500); // Halts program for 500ms to get stable text on LCD
 +  }
 +}
 +// Function read analog input value and compares it with values of button states
 +// Tagastab arvu vahemikus 0 kuni 5 vastavalt defineeritud konstandile
 +int checkButtons()
 +{
 + // Get analog input value
 + buttonValue = analogRead(A0);
 + 
 + if (buttonValue < 50)   return RIGHT;
 + if (buttonValue < 195)  return UP;
 + if (buttonValue < 380)  return DOWN;
 + if (buttonValue < 555)  return LEFT;
 + if (buttonValue < 790)  return SELECT;
 + // If no button state matches then return NONE
 + return NONE;
 +}
 +</code>
 +
 +
 +===== Exercises =====
 +
 +=== Exercise #3.1 ===
 +Modify example so that text is center aligned.
 +
 +=== Exercise #3.2 ===
 +Make a small animation with custom characters.
 +Custom character code generator [[https://omerk.github.io/lcdchargen/|]]
 +
 +
 +
 +====== Project 4 Reading sensors and displaying results on LCD   ======
 +
 +{{:et:arduino:sensorss:projekt4.jpg?800|}}
 +
 +===== Example #4.2 Distance and proximity sensors reading =====
 +Libraries: [[https://www.arduino.cc/en/guide/libraries#toc4|]]
 +
 +<code c>
 +/*
 +Example #4.2 
 +*/
 + 
 +// Include libraries
 +#include <LiquidCrystal.h> 
 +#include <NewPing.h> 
 + 
 +// Set pins for sensors
 +const int US_TRIGGER = A2;
 +const int US_ECHO = A3;
 +const int IR = A4;
 + 
 +/* Global variables and constants */
 +const int maxDistance = 200;
 +int distance, proximity;
 +
 +// Create LCD object and define connection pins
 +LiquidCrystal lcd(8, 9, 4, 5, 6, 7);
 + 
 +// Create ultrasonic object and define connection pins
 +NewPing sonar(US_TRIGGER, US_ECHO,maxDistance);
 + 
 +void setup() 
 +{
 +  //Define LCD size
 +  lcd.begin(16, 2); 
 + 
 +  // Print out explaining text
 +  lcd.print("Dist:");
 +  lcd.setCursor(0, 1);
 +  lcd.print("Object:");
 +}
 +void loop() 
 +{
 +  // Get distance in centimeters
 +  distance = sonar.ping_cm();
 + 
 +  // Get proximity of object
 +  proximity = digitalRead(IR); 
 + 
 +  // Set cursor to first line 10th character
 +  lcd.setCursor(9, 0);
 + 
 +  // EPrint out distance
 +  lcd.print(distance); 
 + 
 +// Overwrite previous value numbers with spaces
 +  lcd.print("   "); 
 + 
 +  // Set cursor on second line 10th character
 +  lcd.setCursor(9, 1); 
 + 
 +  // when infrared sensor does not see anything print out "no", otherwise print out "yes".
 +  if(proximity == 1) lcd.print("no "); 
 +  else lcd.print("yes"); 
 + 
 +  // Halt program to get stable view of LCD 
 +  delay(500); 
 +}
 +</code>
 +
 +
 +===== Exercises =====
 +=== Exercise #4.1 ===
 +Find out which sensor sample time is faster.
 +
 +
 +====== Project 5 DC motor drive and speed control ======
 +
 +{{:et:arduino:motors:projekt5.jpg?700|}}
 +
 +===== Example #5.1 DC motor ad H-bridge =====
 +
 +<code c>
 +/*
 +Example #5.1
 +*/
 +// Set pins for driver inputs
 +const int left_A = 10; // driver pin A-1A
 +const int left_B = 12; // driver pin A-1B
 +const int right_A = 11; // driver pin B-1A
 +const int right_B = 13; // driver pin B-2A
 + 
 +void setup() 
 +{
 +  // Set driver control pins as output
 +  pinMode(left_A,OUTPUT);
 +  pinMode(left_B,OUTPUT);
 +  pinMode(right_A,OUTPUT);
 +  pinMode(right_B,OUTPUT);
 +
 +  motors(0,0); // stop motors
 +  delay(2000); // halt program for safety purposes 2 seconds
 +}
 +
 +void loop() 
 +{
 +  
 +  motors(1,1); // robot goes forward
 +  delay(2000); // halt program for 2 seconds
 +  
 +  motors(-1,1); // robot turns left
 +  delay(500);  // halt program for 500 milliseconds
 +}
 +
 +// This function controls the driver input pins to get correct motion
 +void motors(int left, int right)
 +{
 +  // Left Motor
 +  if(left == 1)
 +  { // Left motor CW
 +    digitalWrite(left_A,HIGH);
 +    digitalWrite(left_B,LOW);
 +  }
 +  else if(left == -1)
 +  { // Left motor CCW
 +    digitalWrite(left_A,LOW);
 +    digitalWrite(left_B,HIGH);
 +  }
 +  else
 +  { // Left motor STOP
 +    digitalWrite(left_A,LOW);
 +    digitalWrite(left_B,LOW);
 +  }
 +
 +  // Right motor
 +  if(right == 1)
 +  { // Right motor CW
 +    digitalWrite(right_A,HIGH);
 +    digitalWrite(right_B,LOW);
 +  }
 +  else if(right == -1)
 +  { // Right motor CCW
 +    digitalWrite(right_A,LOW);
 +    digitalWrite(right_B,HIGH);
 +  }
 +  else
 +  { // Right motor STOP
 +    digitalWrite(right_A,LOW);
 +    digitalWrite(right_B,LOW);
 +  }
 +}
 +</code>
 +
 +===== Example #5.2 DC motor speed controlling =====
 +
 +<code c>
 +/* Nimetus: 
 +Example #5.2
 +*/
 +// Set pins for driver inputs
 +const int left_A = 10; // driver pin A-1A
 +const int left_B = 12; // driver pin A-1B
 +const int right_A = 11; // driver pin B-1A
 +const int right_B = 13; // driver pin B-2B
 + 
 +void setup() 
 +{
 +  // Set driver control pins as output
 +  pinMode(left_A,OUTPUT);
 +  pinMode(left_B,OUTPUT);
 +  pinMode(right_A,OUTPUT);
 +  pinMode(right_B,OUTPUT);
 +
 +  motors(0,0); // Stop motors
 +  delay(2000); // Delay for safety purposes
 +}
 +void loop()
 + {
 +  motors(100,100); // go fwd
 +  delay(2000);
 +  motors(100,255); // turn left
 +  delay(2000); 
 +  motors(-255,-255); // go back
 +  delay(2000);
 +  motors(-255,-100); // go backward while turning right
 +  delay(2000); 
 +  motors(150,-150); // turn on spot
 +  delay(2000);
 +}
 +
 +// This function sets the motors speed and directions
 +void motors(int left, int right)
 + {
 +  // Left motor
 +  if(left > 0 && left <= 255)
 +  { // Left motor CW
 +    analogWrite(left_A,left);
 +    digitalWrite(left_B,LOW);
 +  }
 +  else if(left < 0 && left >= -255)
 +  { // Left motor CCW
 +    analogWrite(left_A, 255+left);
 +    digitalWrite(left_B,HIGH);
 +  }
 +  else
 +  { // Left motor STOP
 +    digitalWrite(left_A,LOW);
 +    digitalWrite(left_B,LOW);
 +  }
 + 
 +  // Right motor
 +  if(right > 0 && right <= 255)
 +  { // Right motor CW
 +    analogWrite(right_A,right);
 +    digitalWrite(right_B,LOW);
 +  }
 +  else if(right < 0 && right >= -255)
 +  { // Right motor CCW
 +    analogWrite(right_A,255+right);
 +    digitalWrite(right_B,HIGH);
 +  }
 +  else
 +  { // Right motor STOP
 +    digitalWrite(right_A,LOW);
 +    digitalWrite(right_B,LOW);
 +  }
 +}
 +</code>
 +
 +===== Exercises =====
 +
 +==== Exercise #5.1 ====
 +Modify exampe so that robot drives number eight shape.
 +
 +==== Harjutus #5.2 ====
 +Make robot parallel park itself.
  
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