Lab_interaccio/2017/BETETA/BETETA.ino

#define LEFT 0
#define RIGHT 1
#define STOP 2

int RELAY[4][10] = {
    { 13, 12, 11, 10,   9,   8,   7,   6,   5,   4 },
    {  3,  2, 14, 15,  16,  17,  18,  19,  20,  21 },
    { 47, 49, 51, 53, A15, A14, A13, A12, A11, A10 },
    { A9, A8, A7, A6,  A5,  A4,  A3,  A2,  A1,  A0 }
};

void setup() {

  for (int i=0; i<10; i++) for (int j=0; j<4; j++) pinMode(RELAY[j][i], OUTPUT);
  for (int i=0; i<10; i++) for (int j=0; j<4; j++) digitalWrite(RELAY[j][i], LOW);
  for (int i=0; i<20; i++) motor(i, STOP);
}

// the loop function runs over and over again forever
void loop() {
      for (int i=0; i<20; i++) motor(i, LEFT);
      delay(5000);
      for (int i=0; i<20; i++) motor(i, STOP);
      delay(1000);
      for (int i=0; i<20; i++) motor(i, RIGHT);
      delay(5000);
      for (int i=0; i<20; i++) motor(i, STOP);
      delay(1000);
}

void test_relay()
  {
    for (int i=0; i<10; i++)
    {
      for (int j=0; j<4; j++) digitalWrite(RELAY[j][i], HIGH);   // turn the LED on (HIGH is the voltage level)
      delay(500);                       // wait for a second
      for (int j=0; j<4; j++) digitalWrite(RELAY[j][i], LOW);    // turn the LED off by making the voltage LOW
    }
  }
#define time_stop 10

void motor(int num, int state)
  {
    switch (num) {
    case 0:
      if (state!=STOP)
        {
          digitalWrite(RELAY[0][0], state);
          delay(time_stop);
          digitalWrite(RELAY[0][1], !state);
          delay(time_stop);
        }
      else
        {
          digitalWrite(RELAY[0][0], LOW);
          digitalWrite(RELAY[0][1], LOW);
        }
      break;
    case 1:
      if (state!=STOP)
        {
          digitalWrite(RELAY[0][2], state);
          delay(time_stop);
          digitalWrite(RELAY[0][3], !state);
          delay(time_stop);
        }
      else
        {
          digitalWrite(RELAY[0][2], LOW);
          digitalWrite(RELAY[0][3], LOW);
        }
      break;
    case 2:
      if (state!=STOP)
        {
          digitalWrite(RELAY[0][4], state);
          delay(time_stop);
          digitalWrite(RELAY[0][5], !state);
          delay(time_stop);
        }
      else
        {
          digitalWrite(RELAY[0][4], LOW);
          digitalWrite(RELAY[0][5], LOW);
        }
      break;
    case 3:
      if (state!=STOP)
        {
          digitalWrite(RELAY[0][6], state);
          delay(time_stop);
          digitalWrite(RELAY[0][7], !state);
          delay(time_stop);
        }
      else
        {
          digitalWrite(RELAY[0][6], LOW);
          digitalWrite(RELAY[0][7], LOW);
        }
      break;
    case 4:
      if (state!=STOP)
        {
          digitalWrite(RELAY[0][8], state);
          delay(time_stop);
          digitalWrite(RELAY[0][9], !state);
          delay(time_stop);
        }
      else
        {
          digitalWrite(RELAY[0][8], LOW);
          digitalWrite(RELAY[0][9], LOW);
        }
      break;
    case 5:
      if (state!=STOP)
        {
          digitalWrite(RELAY[1][0], state);
          delay(time_stop);
          digitalWrite(RELAY[1][1], !state);
          delay(time_stop);
        }
      else
        {
          digitalWrite(RELAY[1][0], LOW);
          digitalWrite(RELAY[1][1], LOW);
        }
      break;
    case 6:
      if (state!=STOP)
        {
          digitalWrite(RELAY[1][2], state);
          delay(time_stop);
          digitalWrite(RELAY[1][3], !state);
          delay(time_stop);
        }
      else
        {
          digitalWrite(RELAY[1][2], LOW);
          digitalWrite(RELAY[1][3], LOW);
        }
      break;
    case 7:
      if (state!=STOP)
        {
          digitalWrite(RELAY[1][4], state);
          delay(time_stop);
          digitalWrite(RELAY[1][5], !state);
          delay(time_stop);
        }
      else
        {
          digitalWrite(RELAY[1][4], LOW);
          digitalWrite(RELAY[1][5], LOW);
        }
      break;
    case 8:
      if (state!=STOP)
        {
          digitalWrite(RELAY[1][6], state);
          delay(time_stop);
          digitalWrite(RELAY[1][7], !state);
          delay(time_stop);
        }
      else
        {
          digitalWrite(RELAY[1][6], LOW);
          digitalWrite(RELAY[1][7], LOW);
        }
      break;
    case 9:
      if (state!=STOP)
        {
          digitalWrite(RELAY[1][8], state);
          delay(time_stop);
          digitalWrite(RELAY[1][9], !state);
          delay(time_stop);
        }
      else
        {
          digitalWrite(RELAY[1][8], LOW);
          digitalWrite(RELAY[1][9], LOW);
        }
      break;
    case 10:
      if (state!=STOP)
        {
          digitalWrite(RELAY[2][0], state);
          delay(time_stop);
          digitalWrite(RELAY[2][1], !state);
          delay(time_stop);
        }
      else
        {
          digitalWrite(RELAY[2][0], LOW);
          digitalWrite(RELAY[2][1], LOW);
        }
      break;
    case 11:
      if (state!=STOP)
        {
          digitalWrite(RELAY[2][2], state);
          delay(time_stop);
          digitalWrite(RELAY[2][3], !state);
          delay(time_stop);
        }
      else
        {
          digitalWrite(RELAY[2][2], LOW);
          digitalWrite(RELAY[2][3], LOW);
        }
      break;
    case 12:
      if (state!=STOP)
        {
          digitalWrite(RELAY[2][4], state);
          delay(time_stop);
          digitalWrite(RELAY[2][5], !state);
          delay(time_stop);
        }
      else
        {
          digitalWrite(RELAY[2][4], LOW);
          digitalWrite(RELAY[2][5], LOW);
        }
      break;
    case 13:
      if (state!=STOP)
        {
          digitalWrite(RELAY[2][6], state);
          delay(time_stop);
          digitalWrite(RELAY[2][7], !state);
          delay(time_stop);
        }
      else
        {
          digitalWrite(RELAY[2][6], LOW);
          digitalWrite(RELAY[2][7], LOW);
        }
      break;
    case 14:
      if (state!=STOP)
        {
          digitalWrite(RELAY[2][8], state);
          delay(time_stop);
          digitalWrite(RELAY[2][9], !state);
          delay(time_stop);
        }
      else
        {
          digitalWrite(RELAY[2][8], LOW);
          digitalWrite(RELAY[2][9], LOW);
        }
      break;
    case 15:
      if (state!=STOP)
        {
          digitalWrite(RELAY[3][0], state);
          delay(time_stop);
          digitalWrite(RELAY[3][1], !state);
          delay(time_stop);
        }
      else
        {
          digitalWrite(RELAY[3][0], LOW);
          digitalWrite(RELAY[3][1], LOW);
        }
      break;
    case 16:
      if (state!=STOP)
        {
          digitalWrite(RELAY[3][2], state);
          delay(time_stop);
          digitalWrite(RELAY[3][3], !state);
          delay(time_stop);
        }
      else
        {
          digitalWrite(RELAY[3][2], LOW);
          digitalWrite(RELAY[3][3], LOW);
        }
      break;
    case 17:
      if (state!=STOP)
        {
          digitalWrite(RELAY[3][4], state);
          delay(time_stop);
          digitalWrite(RELAY[3][5], !state);
          delay(time_stop);
        }
      else
        {
          digitalWrite(RELAY[3][4], LOW);
          digitalWrite(RELAY[3][5], LOW);
        }
      break;
    case 18:
      if (state!=STOP)
        {
          digitalWrite(RELAY[3][6], state);
          delay(time_stop);
          digitalWrite(RELAY[3][7], !state);
          delay(time_stop);
        }
      else
        {
          digitalWrite(RELAY[3][6], LOW);
          digitalWrite(RELAY[3][7], LOW);
        }
      break;
    case 19:
      if (state!=STOP)
        {
          digitalWrite(RELAY[3][8], state);
          delay(time_stop);
          digitalWrite(RELAY[3][9], !state);
          delay(time_stop);
        }
      else
        {
          digitalWrite(RELAY[3][8], LOW);
          digitalWrite(RELAY[3][9], LOW);
        }
      break;
      }
  }