Currently I have a working hovercraft which can hold the weight of an arduino, power pack, and various inputs and outputs. I am looking to improve this to hold more weight (a.k.a. strip down the weight of the hovercraft). I am having a bit of a problem with the interactive bit of it but should have it up and running very soon. Still hopeful about creating movement with the hovercraft, but right now it seems I’ll have to settle for something simpler.
Code coming as soon as I fix it
Here is my final state diagram, wiring schematic, and code (though I might change some threshold values). The code is excessively long and definitely not optimized; it was just the easiest way to understand what was going on so I can more easily debug. It should be relatively self-explanatory therefore. The state diagram from which the code was derived is similarly not optimal for the same reason.
And I figured out that the reason the bell & buzzer weren’t going off during the demo was because I turned on the batteries improperly, as in apparently I need to turn on the Arduino last, otherwise it will enter some strange inescapable state-change path. I don’t have it all figured out but it’s hopefully enough such that the effectiveness of Murphy’s Law won’t be consistent.
HELP REQUEST!
I’m having no luck photographing it and I honestly have no idea how to videoscenario it so if anyone has any suggestions or can offer help it would be greatly appreciated!
[State Diagram & Wiring Schematic]
[Code]
#include <Servo.h>
// PINS //
int soapLED_R = 10; // warning light
int soapLED_G = 9; // indicates soap being dispensed
int soapLED_B = 8; // standard light [GB=white]
int sinkLED = 11; // indicates running water [B]
int soapsensor = 0;
int sinksensor = 1;
int toiletswitch = 12; // indicates motion detected [into toilet!]
int flushbutton = 13;
int lockbutton = 7;
int doorswitch = 4;
int signservo = 3;
int locksolenoid = 2;
int speaker = 5;
int bell = 6;
Servo sign;
// STATES //
int State = 0;
const int Blank = 0;
const int Locked = 1;
const int Wash = 2;
const int LockWash = 3;
const int Flush = 4;
const int Toilet = 5;
const int DUnlock = 6;
const int DLeaving = 7;
const int DSoap = 8;
const int DRinse = 9;
const int Clean = 10;
const int CLeaving = 11;
const int TUnlock = 12;
const int TLeaving = 13;
const int TSoap = 14;
const int TWater = 15;
int LockState = 0;
const int Auto = 0;
const int Manual = 1;
// OUTPUT CONDITIONS //
int Reward = 0;
const int Off = 0;
const int On = 1;
int Buzzer = 0;
int Sign = 0;
const int Bl_Bl = 125; // in: blank out: blank
const int Wa_Bl = 107; // in: wash out: blank
const int Wa_Di = 87; // in: wash out: dirty
const int Ri_Bl = 68; // in: rinse out: blank
const int Fl_Bl = 51; // in: flush out: blank
const int Fl_Fl = 31; // in: flush out: flush
const int Th_Cl = 13; // in: thanks out: clean!
int Soap = 0;
const int White = 0; // standard light
const int Red = 1; // warning light
const int Green = 2; // indicates soap being dispensed
int Sink = 0;
int Lock = 0;
// ANALOG INPUT THRESHOLDS //
int soapmin = 30;
int soapmax = 100;
int sinkmin = 100;
int sinkmax = 300;
// OTHER //
int lockbuttonpress = 0;
int dooropentime = 0;
int sinkontime = 0;
void setup()
{
Serial.begin(9600);
pinMode(soapLED_R, OUTPUT); // digital
pinMode(soapLED_G, OUTPUT); // digital
pinMode(soapLED_B, OUTPUT); // digital
pinMode(sinkLED, OUTPUT); // digital
pinMode(soapsensor, INPUT); // analog
pinMode(sinksensor, INPUT); // analog
pinMode(toiletswitch, INPUT); // digital
pinMode(flushbutton, INPUT); // digital
pinMode(lockbutton, INPUT); // digital
pinMode(doorswitch, INPUT); // digital: LOW when closed, HIGH when open
pinMode(signservo, OUTPUT); // digital PWM
pinMode(locksolenoid, OUTPUT); // digital
pinMode(speaker, OUTPUT); // digital
pinMode(bell, OUTPUT); // digital
State = Blank;
LockState = Auto;
Reward = Off;
Buzzer = Off;
Sign = Bl_Bl;
Soap = White;
Sink = White;
Lock = Off;
lockbuttonpress = 0;
dooropentime = 0;
sinkontime = 0;
sign.attach(signservo);
sign.setMaximumPulse(2400);
sign.setMinimumPulse(544);
sign.write(Bl_Bl);
}
void loop()
{
// SWITCH STATES //
switch(State)
{
case Blank:
if(lockbuttonpress==0 && digitalRead(lockbutton)==HIGH && digitalRead(doorswitch)==LOW)
{ lockbuttonpress=1; State=Locked; }
if(digitalRead(lockbutton)==LOW) {lockbuttonpress=0;}
if(analogRead(soapsensor)<soapmin) {State=Wash;}
if(digitalRead(flushbutton)==HIGH) {State=Flush;}
if(digitalRead(toiletswitch)==HIGH) {State=Toilet;}
break;
case Locked:
if(lockbuttonpress==0 && digitalRead(lockbutton)==HIGH)
{ lockbuttonpress=1; State=Blank;}
if(digitalRead(lockbutton)==LOW) {lockbuttonpress=0;}
if(analogRead(soapsensor)<soapmin) {State=LockWash;}
if(digitalRead(flushbutton)==HIGH) {State=Flush;}
if(digitalRead(toiletswitch)==HIGH) {State=Toilet;}
break;
case Wash:
if(lockbuttonpress==0 && digitalRead(lockbutton)==HIGH && digitalRead(doorswitch)==LOW)
{ lockbuttonpress=1; State=LockWash; }
if(digitalRead(lockbutton)==LOW) {lockbuttonpress=0;}
if(digitalRead(doorswitch)==HIGH) {State=Blank;}
if(analogRead(sinksensor)<sinkmin) {State=Clean;}
if(digitalRead(flushbutton)==HIGH) {State=Flush;}
if(digitalRead(toiletswitch)==HIGH) {State=Toilet;}
break;
case LockWash:
if(lockbuttonpress==0 && digitalRead(lockbutton)==HIGH)
{ lockbuttonpress=1; State=Wash;}
if(digitalRead(lockbutton)==LOW) {lockbuttonpress=0;}
if(digitalRead(doorswitch)==HIGH) {State=Blank;}
if(analogRead(sinksensor)<sinkmin)
{ if(sinkontime==0) {sinkontime=millis();}
if(millis()-sinkontime>1000) {sinkontime=0; State=Clean;} }
if(analogRead(sinksensor)>sinkmax) {sinkontime=0;}
if(digitalRead(flushbutton)==HIGH) {State=Flush;}
if(digitalRead(toiletswitch)==HIGH) {State=Toilet;}
break;
case Flush:
if(lockbuttonpress==0 && digitalRead(lockbutton)==HIGH)
{ lockbuttonpress=1; State=DUnlock;}
if(digitalRead(lockbutton)==LOW) {lockbuttonpress=0;}
if(digitalRead(doorswitch)==HIGH)
{ dooropentime=millis(); State=DLeaving; }
if(analogRead(soapsensor)<soapmin) {State=DSoap;}
if(analogRead(sinksensor)<sinkmin) {State=DRinse;}
if(digitalRead(toiletswitch)==HIGH) {State=Toilet;}
break;
case Toilet:
if(lockbuttonpress==0 && digitalRead(lockbutton)==HIGH)
{ lockbuttonpress=1; State=TUnlock;}
if(digitalRead(lockbutton)==LOW) {lockbuttonpress=0;}
if(digitalRead(doorswitch)==HIGH) {dooropentime=millis(); State=TLeaving;}
if(analogRead(soapsensor)<soapmin) {State=TSoap;}
if(analogRead(sinksensor)<sinkmin) {State=TWater;}
if(digitalRead(flushbutton)==HIGH) {State=Flush;}
break;
case DUnlock:
if(lockbuttonpress==0 && digitalRead(lockbutton)==HIGH && digitalRead(doorswitch)==LOW)
{ lockbuttonpress=1; State=Flush; LockState=Manual; }
if(digitalRead(lockbutton)==LOW) {lockbuttonpress=0;}
if(digitalRead(doorswitch)==HIGH)
{ dooropentime=millis(); State=DLeaving; }
if(analogRead(soapsensor)<soapmin) {State=DSoap;}
if(analogRead(sinksensor)<sinkmin) {State=DRinse;}
if(digitalRead(flushbutton)==HIGH) {State=Flush;}
if(digitalRead(toiletswitch)==HIGH) {State=Toilet;}
break;
case DLeaving:
if(digitalRead(doorswitch)==LOW && millis()-dooropentime<1000)
{ dooropentime=0; State=Flush;}
if(millis()-dooropentime>1000) {dooropentime=0; State=Blank;}
if(analogRead(soapsensor)<soapmin) {State=DSoap;}
if(analogRead(sinksensor)<sinkmin) {State=DRinse;}
if(digitalRead(flushbutton)==HIGH) {State=Flush;}
if(digitalRead(toiletswitch)==HIGH) {State=Toilet;}
break;
case DSoap:
if(lockbuttonpress==0 && digitalRead(lockbutton)==HIGH)
{ lockbuttonpress=1; State=DUnlock;}
if(digitalRead(lockbutton)==LOW) {lockbuttonpress=0;}
if(digitalRead(doorswitch)==HIGH)
{ dooropentime=millis(); State=DLeaving; }
if(analogRead(sinksensor)<sinkmin)
{ if(sinkontime==0) {sinkontime=millis();}
if(millis()-sinkontime>1000) {sinkontime=0; State=Clean;} }
if(analogRead(sinksensor)>sinkmax) {sinkontime=0;}
if(digitalRead(flushbutton)==HIGH) {State=Flush;}
if(digitalRead(toiletswitch)==HIGH) {State=Toilet;}
break;
case DRinse:
if(lockbuttonpress==0 && digitalRead(lockbutton)==HIGH)
{ lockbuttonpress=1; State=DUnlock;}
if(digitalRead(lockbutton)==LOW) {lockbuttonpress=0;}
if(digitalRead(doorswitch)==HIGH)
{ dooropentime=millis(); State=DLeaving; }
if(analogRead(soapsensor)<soapmin) {State=DSoap;}
if(digitalRead(flushbutton)==HIGH) {State=Flush;}
if(digitalRead(toiletswitch)==HIGH) {State=Toilet;}
break;
case Clean:
if(lockbuttonpress==0 && digitalRead(lockbutton)==HIGH)
{ lockbuttonpress=1;
if(LockState==Manual) {LockState=Auto;}
if(LockState==Auto && digitalRead(doorswitch)==LOW) {State=Locked;} }
if(digitalRead(lockbutton)==LOW) {lockbuttonpress=0;}
if(digitalRead(doorswitch)==HIGH)
{ dooropentime=millis(); State=CLeaving; }
if(digitalRead(flushbutton)==HIGH) {State=Flush;}
if(digitalRead(toiletswitch)==HIGH) {State=Toilet;}
break;
case CLeaving:
if(digitalRead(doorswitch)==LOW || millis()-dooropentime>1000)
{ dooropentime=0; State=Blank;}
break;
case TUnlock:
if(lockbuttonpress==0 && digitalRead(lockbutton)==HIGH && digitalRead(doorswitch)==LOW)
{ lockbuttonpress=1; State=Toilet; LockState=Manual; }
if(digitalRead(lockbutton)==LOW) {lockbuttonpress=0;}
if(digitalRead(doorswitch)==HIGH) {dooropentime=millis(); State=TLeaving;}
if(analogRead(soapsensor)<soapmin) {State=TSoap;}
if(analogRead(sinksensor)<sinkmin) {State=TWater;}
if(digitalRead(flushbutton)==HIGH) {State=Flush;}
if(digitalRead(toiletswitch)==HIGH) {State=Toilet;}
break;
case TLeaving:
if(digitalRead(doorswitch)==LOW && millis()-dooropentime<1000)
{ dooropentime=0; State=Toilet;}
if(millis()-dooropentime>1000) {dooropentime=0; State=Blank;}
if(analogRead(soapsensor)<soapmin) {State=TSoap;}
if(analogRead(sinksensor)<sinkmin) {State=TWater;}
if(digitalRead(flushbutton)==HIGH) {State=Flush;}
if(digitalRead(toiletswitch)==HIGH) {State=Toilet;}
break;
case TSoap:
if(lockbuttonpress==0 && digitalRead(lockbutton)==HIGH)
{ lockbuttonpress=1; State=TUnlock;}
if(digitalRead(lockbutton)==LOW) {lockbuttonpress=0;}
if(digitalRead(doorswitch)==HIGH)
{ dooropentime=millis(); State=TLeaving; }
if(analogRead(sinksensor)<sinkmin) {State=TWater;}
if(digitalRead(flushbutton)==HIGH) {State=Flush;}
if(digitalRead(toiletswitch)==HIGH) {State=Toilet;}
break;
case TWater:
if(lockbuttonpress==0 && digitalRead(lockbutton)==HIGH)
{ lockbuttonpress=1; State=TUnlock;}
if(digitalRead(lockbutton)==LOW) {lockbuttonpress=0;}
if(digitalRead(doorswitch)==HIGH)
{ dooropentime=millis(); State=TLeaving; }
if(analogRead(soapsensor)<soapmin) {State=TSoap;}
if(digitalRead(flushbutton)==HIGH) {State=Flush;}
if(digitalRead(toiletswitch)==HIGH) {State=Toilet;}
break;
}
// SET CONDITIONS //
switch(State)
{
case Blank:
dooropentime = 0; sinkontime = 0;
Reward = Off; Buzzer = Off;
Sign = Bl_Bl;
Soap = White; Sink = Off;
Lock = Off; LockState = Auto;
if(analogRead(sinksensor)<sinkmin) {Sink = On;}
break;
case Locked:
Reward = Off; Buzzer = Off;
Sign = Bl_Bl;
Soap = White; Sink = Off;
Lock = On; LockState = Manual;
if(analogRead(sinksensor)<sinkmin) {Sink = On;}
break;
case Wash:
Reward = Off; Buzzer = Off;
Sign = Bl_Bl;
Soap = White; Sink = Off;
Lock = Off; LockState = Auto;
if(analogRead(soapsensor)<soapmin) {Soap = Green;}
if(analogRead(sinksensor)<sinkmin) {Sink = On;}
break;
case LockWash:
Reward = Off; Buzzer = Off;
Sign = Bl_Bl;
Soap = White; Sink = Off;
Lock = On; LockState = Manual;
if(analogRead(soapsensor)<soapmin) {Soap = Green;}
if(analogRead(sinksensor)<sinkmin) {Sink = On;}
break;
case Flush: // do not set LockState
Reward = Off; Buzzer = Off;
Sign = Wa_Bl;
Soap = Red; Sink = Off;
Lock = On;
break;
case Toilet: // do not set LockState
Reward = Off; Buzzer = Off;
Sign = Fl_Bl;
Soap = White; Sink = Off;
Lock = On;
break;
case DUnlock:
Reward = Off; Buzzer = Off;
Sign = Wa_Di;
Soap = Red; Sink = Off;
Lock = Off; LockState = Auto;
break;
case DLeaving:
Reward = Off; Buzzer = On;
Sign = Wa_Di;
Soap = Red; Sink = Off;
Lock = Off; LockState = Auto;
break;
case DSoap: // do not set LockState
Reward = Off; Buzzer = Off;
Sign = Wa_Bl;
Soap = Red; Sink = Off;
Lock = On;
if(analogRead(sinksensor)<sinkmin) {Sink = On;}
if(analogRead(soapsensor)<soapmin) {Soap = Green;}
break;
case DRinse: // do not set LockState
Reward = Off; Buzzer = Off;
Sign = Ri_Bl;
Soap = Red; Sink = Off;
Lock = On;
if(analogRead(sinksensor)<sinkmin) {Sink = On;}
break;
case Clean:
sinkontime = 0;
Reward = Off; Buzzer = Off;
Sign = Th_Cl;
Soap = White; Sink = Off;
if(analogRead(soapsensor)<soapmin) {Soap = Green;}
if(analogRead(sinksensor)<sinkmin) {Sink = On;}
if(LockState==Auto) {Lock = Off;}
else {Lock = On;}
break;
case CLeaving:
Reward = On; Buzzer = Off;
Sign = Th_Cl;
Soap = White; Sink = Off;
Lock = Off; LockState = Auto;
break;
case TUnlock:
Reward = Off; Buzzer = Off;
Sign = Fl_Fl;
Soap = White; Sink = Off;
Lock = Off; LockState = Auto;
break;
case TLeaving:
Reward = Off; Buzzer = On;
Sign = Fl_Fl;
Soap = White; Sink = Off;
Lock = Off; LockState = Auto;
break;
case TSoap: // do not set LockState
Reward = Off; Buzzer = Off;
Sign = Fl_Bl;
Soap = White; Sink = Off;
Lock = On;
if(analogRead(soapsensor)<soapmin) {Soap = Green;}
break;
case TWater: // do not set LockState
Reward = Off; Buzzer = Off;
Sign = Fl_Bl;
Soap = White; Sink = Off;
Lock = On;
if(analogRead(sinksensor)<sinkmin) {Sink = On;}
break;
}
// EXECUTE CONDITIONS //
if(Reward==On) {digitalWrite(bell, HIGH);}
else {digitalWrite(bell, LOW);}
if(Buzzer==On) {digitalWrite(speaker, HIGH);}
else {digitalWrite(speaker, LOW);}
switch(Sign)
{
case Bl_Bl: sign.write(Bl_Bl); break;
case Wa_Bl: sign.write(Wa_Bl); break;
case Wa_Di: sign.write(Wa_Di); break;
case Ri_Bl: sign.write(Ri_Bl); break;
case Fl_Bl: sign.write(Fl_Bl); break;
case Fl_Fl: sign.write(Fl_Fl); break;
case Th_Cl: sign.write(Th_Cl); break;
}
Servo::refresh();
switch(Soap)
{
case White:
digitalWrite(soapLED_R, LOW);
digitalWrite(soapLED_G, HIGH);
digitalWrite(soapLED_B, HIGH);
break;
case Red:
digitalWrite(soapLED_R, HIGH);
digitalWrite(soapLED_G, LOW);
digitalWrite(soapLED_B, LOW);
break;
case Green:
digitalWrite(soapLED_R, LOW);
digitalWrite(soapLED_B, HIGH); // B & G pins reversed?
digitalWrite(soapLED_G, LOW);
break;
}
if(Sink==On) {digitalWrite(sinkLED, HIGH);}
else {digitalWrite(sinkLED, LOW);}
if(Lock==On && digitalRead(doorswitch)==LOW) {digitalWrite(locksolenoid, HIGH);}
else {digitalWrite(locksolenoid, LOW);}
}
