Ajout de la détection de présence par infrarouge

code/cat_on_diet_feeder/cat_on_diet_feeder.ino

@@ -5,6 +5,11 @@
 #include <Servo.h>
 #include <EEPROM.h>
 
+//Configuration
+const float SERVO_SPEED   = 0.8;
+const float OPEN_ANGLE    = 10.0;
+const float CLOSED_ANGLE  = 170.0;
+
 //Pin definitions
 #define RED_LED     12
 #define GREEN_LED   13
@@ -13,11 +18,13 @@
 #define PROG_BUTTON 4
 #define SERVO_CTRL  5
 #define DOOR_BUTTON 6
+#define IR_LED      7
+#define IR_RECEIVE  A0
 
 // Others parameters
-#define SERVO_SPEED 2
 #define SERVO_PWR_TIME    500 //time to stop powering servomotor after the end of move
 #define DOOR_OPENED_TIME  3000
+#define IR_DETECTION_THRESHOLD  400
 #define EMPTY_TAG     {0,0,0,0,0,0,0,0,0,0,0,0,0,0}
 #define UNWRITTEN_TAG {255,255,255,255,255,255,255,255,255,255,255,255,255,255}
 
@@ -28,7 +35,7 @@ Servo door_servo;
 
 int data1 = 0;
 int tag_ok = -1;
-byte servo_pos = 180;
+float servo_pos = OPEN_ANGLE;
 bool door_state = 0;    // door opened ?
 bool door_move = false;     // door moving ?
 long door_timer = 0;    // timer to close the door
@@ -58,9 +65,9 @@ byte * readeepromtag(short tagnb=0) {
     tag[i]=EEPROM.read(i + tagnb*14);
     //delay(1);   //small delay to avoid misreading
   }
-  //Serial.print("Tag nb ");
+  //Serial.print(F("Tag nb "));
   //Serial.print(tagnb);
-  //Serial.print(" : ");
+  //Serial.print(F(" : "));
   //for (int z = 0; z < 14 ; z++) {
   //    Serial.print(tag[z]);
   //    Serial.print(",");
@@ -108,9 +115,9 @@ void tagOK() {
     }
     Serial.println(F(" : Accepted"));
     if (!door_state) {
-      Serial.println("Ouverture...");
+      Serial.println(F("Ouverture..."));
       door_state = 1;
-      //door_timer = millis() + 1000;
+      door_timer = millis() + DOOR_OPENED_TIME;
     }
   }
   else
@@ -180,22 +187,22 @@ void updateDoor() {
 
   //Apply door status
   if (door_state) {
-    digitalWrite(GREEN_LED, HIGH);
-    digitalWrite(RED_LED, LOW);
-    if (servo_pos >= 180) {
+    //Opening or open
+    if (servo_pos <= OPEN_ANGLE) {
       //if door has to be open and already open, disable servomotor
-      disableServo();
       if (door_move) {
+        //Opening
         Serial.println(F("Door : opened"));
         door_timer = millis() + DOOR_OPENED_TIME;
         servo_timer = millis() + SERVO_PWR_TIME;
+        disableServo();
         door_move = false;
       }
     }
     else {
      //Keep opening the door
      door_move = true;
-     servo_pos += SERVO_SPEED;
+     servo_pos -= SERVO_SPEED;
      door_servo.attach(SERVO_CTRL);
      door_servo.write(servo_pos);
      //Serial.print(F("Door : opening "));
@@ -213,21 +220,20 @@ void updateDoor() {
     }
   }
   else {
-    digitalWrite(GREEN_LED, LOW);
-    if (servo_pos <= 0) {
+    if (servo_pos >= CLOSED_ANGLE) {
       //if door has to be open and already open, disable servomotor
       disableServo();
       if (door_move) {
         Serial.println(F("Door : closed"));
-        digitalWrite(RED_LED, LOW);
         servo_timer = millis() + SERVO_PWR_TIME;
+        disableServo();
         door_move = false;
       }
     }
     else {
      //Keep closing the door
      door_move = true;
-     servo_pos -= SERVO_SPEED;
+     servo_pos += SERVO_SPEED;
      door_servo.attach(SERVO_CTRL);
      door_servo.write(servo_pos);
      //Serial.print(F("Door : closing "));
@@ -236,7 +242,18 @@ void updateDoor() {
   }
 }
 
-void updateRedLED() {
+void updateLED() {
+  //Update the LEDs state
+  if (door_state) {
+    //Opening or open
+    digitalWrite(GREEN_LED, HIGH);
+    digitalWrite(RED_LED, LOW);
+  }
+  else {
+    digitalWrite(GREEN_LED, LOW);
+    digitalWrite(RED_LED, LOW);
+  }
+  
   //Check the redLED timer and turn ON or OFF the LED
   if (millis() < red_led_timer) {
     digitalWrite(RED_LED, HIGH);
@@ -304,7 +321,7 @@ void delTag(byte tag[14]) {
   Serial.println("");
 
   int tagnb = findtag(tag);
-  Serial.print("Tag number ");
+  Serial.print(F("Tag number "));
   Serial.println(tagnb);
 
   Serial.print(F("Writing zeros..."));
@@ -331,6 +348,30 @@ void delTag(byte tag[14]) {
   }
 }
 
+boolean catIsHere() {
+  int IR_ambient;                // variable to store the IR coming from the ambient
+  int value;                    // variable to store the IR values
+
+  for (int i=0; i<5; i++) {
+    digitalWrite(IR_LED, LOW);
+    delay(1);
+    IR_ambient = analogRead(IR_RECEIVE);
+    digitalWrite(IR_LED, HIGH);
+    delay(1);
+    value += IR_ambient - analogRead(IR_RECEIVE);
+  }
+  
+  Serial.println(value);
+  digitalWrite(IR_LED, LOW);
+  if (value < IR_DETECTION_THRESHOLD) {
+    Serial.println(F("Chat présent"));
+    return true;  
+  } 
+  Serial.println(F("Chat absent"));
+  return false;  
+  
+}
+
 void setup() {
 // start serial to PC 
   Serial.begin(115200);
@@ -345,6 +386,8 @@ void setup() {
   // for status LEDs
   pinMode(GREEN_LED, OUTPUT);
   pinMode(RED_LED, OUTPUT);
+  pinMode(IR_LED, OUTPUT);
+  digitalWrite(IR_LED, LOW);
 
   //Mode for button and end-stop
   pinMode(PROG_BUTTON, INPUT_PULLUP);
@@ -358,12 +401,17 @@ void setup() {
   Serial.println(findtag(newtag));
   Serial.println(findtag(unwrittentag));
   
+  //Positioning door
+  while (!door_move) {
+    updateDoor();
+  }
+  door_state = 0;
 }
 
 void loop() {
   tag_ok = -1;
 
-  if (RFID.available() > 0 and !door_state ) {
+  if (!door_state and !door_move and RFID.available() > 0 ) {
     readRFID();
   }
 
@@ -371,8 +419,13 @@ void loop() {
     Serial.println("Ouverture par l'utilisateur.");
     door_state = 1;
   }
+
+  if (door_state and !door_move and catIsHere()) {
+    door_timer = millis() + DOOR_OPENED_TIME;
+  }
+  
   updateDoor();
-  updateRedLED();
+  updateLED();
   
   delay(10);
 }