Lab_interaccio/2023/Baleliteral/sculpture5_with_delay/sculpture5_with_delay.ino

#include <Arduino.h> /* Just in case of using the vscode ide for arduino programming, not needed if using the commom arduino ide */
#include <IRremote.hpp> // library for the IR receiver
#define RPWM 5
#define LPWM 6

const unsigned long TIME_STATIC=1000;

const int SPEED_SLOW = 60;
const int SPEED_MED = 140;
const int SPEED_MAX = 255;

const float INCREASE_1 = 3;   //0       ->  low
const float INCREASE_2 = 0.1; //low     ->  medium
const float INCREASE_3 = 0.1; //medium  ->  fast
const float DECREASE = 0.1;

// IR receive parameters
const int IR = 9;
IRrecv IrReceiv(IR);
decode_results result;

/*
  Pins connected to aduino( in english )

  IBT-2 pin 1 (RPWM) to Arduino pin 5(PWM)
  IBT-2 pin 2 (LPWM) to Arduino pin 6(PWM)
  IBT-2 pins 3 (R_EN), 4 (L_EN), 7 (VCC) to Arduino 5V
  IBT-2 pin 8 (GND) to Arduino's GND
  IBT-2 pins 5 (R_IS) and 6 (L_IS) not connected
*/

// IR codes
const int code1 = 0xAA1;
const int code2 = 0xAA2;
const int code3 = 0xAA3;
const int code4 = 0xAA4;
const int code5 = 0xAA5;
const int code6 = 0xAA6;

int code = 0;//0xAA1;

bool cond = true;
int i = 0;

void rotateMotor(int vel) /*  function to set the sense of rotation of the motor */
{
  analogWrite(LPWM, vel);
  analogWrite(RPWM, 0);
}

unsigned long ini_time;

void setup()
{
  Serial.begin(9600);
  IrReceiv.enableIRIn();
  rotateMotor(60);
  delay(500);
  rotateMotor(0);
  delay(30000);
  ini_time = millis();
}

int code_ant = 0;
unsigned long start = millis();

void loop()
{
  /*if (IrReceiv.decode(&result))
    {
      Serial.print(result.bits);
      Serial.print(": ");
      Serial.println(result.value, HEX);
      IrReceiv.resume();
      if ((result.value==code1)||(result.value==code2)||(result.value==code3)||(result.value==code4)||(result.value==code5)||(result.value==code6))
        {
          code = result.value;
          if (code==code_ant) code = 0;
          else code_ant=code;
        }
    }*/
    
  switch(code)
  {
    case code1: // stopped -> slow - check
      start = millis();
      while((millis() - start) <= TIME_STATIC) // responsible for maintaining no velocity
      {
        rotateMotor(0);
        Serial.print("Motor status: stopped || ");
        Serial.print("Time: ");
        Serial.print((millis()-ini_time)/1000);
        Serial.print("  || Time_start: ");
        Serial.print((millis()-start)/1000);
        Serial.print(" || Speed: ");
        Serial.println(0);
        delay(392);
      }
     
      for (float i = 0; i < (SPEED_SLOW); i+=INCREASE_1) // responsible for increasing the speed
      {
        rotateMotor(i);
        Serial.print("Motor status: stopped -> slow || ");
        Serial.print("Time: ");
        Serial.print((millis()-ini_time)/1000);
        Serial.print(" || Speed: ");
        Serial.println(i);
        delay(392);
      }
      break;
    case code2: // slow -> medium - check
      start = millis();
      while((millis() - start) <= 30*TIME_STATIC) // responsible for maintaning the constant velocity
      {
        rotateMotor(SPEED_SLOW);
        Serial.print("Motor status: slow || ");
        Serial.print("Time: ");
        Serial.print((millis()-ini_time)/1000);
        Serial.print("  || Time_start: ");
        Serial.print((millis()-start)/1000);
        Serial.print(" || Speed: ");
        Serial.println(SPEED_SLOW);
        delay(392);
      }      
      for (float i = SPEED_SLOW; i < (SPEED_MED); i+=INCREASE_2) // responsible for increasing the speed
      {
        rotateMotor(i);
        Serial.print("Motor status: slow -> medium || ");
        Serial.print("Time: ");
        Serial.print((millis()-ini_time)/1000);
        Serial.print(" || Speed: ");
        Serial.println(i);
        delay(392);
      }
      break;
    case code3: // medium -> fast - check
      start = millis();
      while((millis() - start) <= 30*TIME_STATIC) // responsible for maintaning the constant velocity 
      {
        rotateMotor(SPEED_MED);
        Serial.print("Motor status: medium || ");
        Serial.print("Time: ");
        Serial.print((millis()-ini_time)/1000);
        Serial.print("  || Time_start: ");
        Serial.print((millis()-start)/1000);
        Serial.print(" || Speed: ");
        Serial.println(SPEED_MED);
        delay(392);
      }
      for (float i = SPEED_MED; i < (SPEED_MAX); i+=INCREASE_3) // responsible for increasing the speed
      {
        rotateMotor(i);
        Serial.print("Motor status: medium -> fast || ");
        Serial.print("Time: ");
        Serial.print((millis()-ini_time)/1000);
        Serial.print(" || Speed: ");
        Serial.println(i);
        delay(392);
      }
      break;
    case code4: // fast -> medium - check
      start = millis();
      while((millis() - start) <= 180*TIME_STATIC) // responsible for maintaning the constant velocity
      {
        rotateMotor(SPEED_MAX);
        Serial.print("Motor status: fast || ");
        Serial.print("Time: ");
        Serial.print((millis()-ini_time)/1000);
        Serial.print("  || Time_start: ");
        Serial.print((millis()-start)/1000);
        Serial.print(" || Speed: ");
        Serial.println(SPEED_MAX);
        delay(392);
      }

      for (float i = SPEED_MAX; i > (SPEED_MED); i-=DECREASE) // responsible for decreasing the speed
      {
        rotateMotor(i);
        Serial.print("Motor status: fast -> medium || ");
        Serial.print("Time: ");
        Serial.print((millis()-ini_time)/1000);
        Serial.print(" || Speed: ");
        Serial.println(i);
        delay(392);
      }
      break;

    case code5: // medium -> slow - check
      start = millis();
      while((millis() - start) <= TIME_STATIC) // responsible for maintaning the constant velocity
      {
        rotateMotor(SPEED_MED);
        Serial.print("Motor status: medium || ");
        Serial.print("Time: ");
        Serial.print((millis()-ini_time)/1000);
        Serial.print("  || Time_start: ");
        Serial.print((millis()-start)/1000);
        Serial.print(" || Speed: ");
        Serial.println(SPEED_MED);
        delay(392);
      }
      for (float i = SPEED_MED; i > (SPEED_SLOW); i-=DECREASE) // responsible for decreasing the speed
      {
        rotateMotor(i);
        Serial.print("Motor status: medium -> slow || ");
        Serial.print("Time: ");
        Serial.print((millis()-ini_time)/1000);
        Serial.print(" || Speed: ");
        Serial.println(i);
        delay(392);
      }
      break;
    case code6: // slow -> stopped - check
      start = millis();
      while((millis() - start) <= TIME_STATIC) // responsible for maintaning the constant velocity 
      {
        rotateMotor(SPEED_SLOW);
        Serial.print("Motor status: slow || ");
        Serial.print("Time: ");
        Serial.print((millis()-ini_time)/1000);
        Serial.print("  || Time_start: ");
        Serial.print((millis()-start)/1000);
        Serial.print(" || Speed: ");
        Serial.println(SPEED_SLOW);
        delay(392);
      }
      for (float i = SPEED_SLOW; i > (0); i-=DECREASE) // responsible for decreasing the speed
      {
        rotateMotor(i);
        Serial.print("Motor status: slow -> stopped || ");
        Serial.print("Time: ");
        Serial.print((millis()-ini_time)/1000);
        Serial.print(" || Speed: ");
        Serial.println(i);
        delay(392);
      }
      break;
  }
  //code = 0;
  if (code<0xAA7) code++;
  else
    {
      code = code1;
      Serial.print("System stopped!!");
      delay(120000);
      ini_time = millis();
    } 

}