Jochen Zeirzer

/*
Created by Jochen Zeirzer
http://www.jochen_zeirzer.public2.linz.at/
project: abanico
year:    2013

   Ping))) Sensor
   http://www.arduino.cc/en/Tutorial/Ping

   created 3 Nov 2008
   by David A. Mellis
   modified 30 Aug 2011
   by Tom Igoe
*/

#include <VarSpeedServo.h>

//Servos                    // create variable speed servo objects to control servos 1-3
VarSpeedServo servo1;       // Servo to tilt Fan
VarSpeedServo servo2;       // Servo to open and close Fan
VarSpeedServo servo3;       // Servo to rotate Base

int trans1 = 6;             // transistor to switch Servo 1 on Pin 11
int trans2 = 5;             // transistor to switch Servo 2 on Pin 10
int trans3 = 3;             // transistor to switch Servo 3 on Pin 9

int counter;                // initialize a counter to count how often the distance has been measured
int wait = 5250;            // initialize a delay for the calibration movement - every 5250 measurements (approx. every 10 min)

const int pingPin = 7;      // Grove Ultrasonic Ranger on Pin 7
const int threshold = 140;  // Threshold level digital input (Ultra Sonic Ranger)

void setup() {

   // initialize serial communication
   Serial.begin(9600);

   pinMode(trans1, OUTPUT); // initialize the Transistors 1 - 3 as output:
   pinMode(trans2, OUTPUT);
   pinMode(trans3, OUTPUT);

   servo1.attach(11);              // Servo 1 (Fan Tilt) on pin 11
   servo1.writeMicroseconds(620);  // variable speed servo1 position in Microdseconds
   servo2.attach(10);              // Servo 2 (Fan open/close) on pin 10
   servo2.writeMicroseconds(570);  // variable speed servo1 position in Microdseconds
   servo3.attach(9);               // Servo 3 (Base rotation) on pin 9
   servo3.writeMicroseconds(600);  // variable speed servo1 position in Microdseconds

   digitalWrite(trans1, LOW);      // Set default state of Transistors 1 - 3 to LOW
   digitalWrite(trans2, LOW);
   digitalWrite(trans3, LOW);
}
   
   long microsecondsToCentimeters(long microseconds)
{
   // The speed of sound is 340 m/s or 29 microseconds per centimeter.
   // The ping travels out and back, so to find the distance of the
   // object we take half of the distance travelled.
   return microseconds / 29 / 2;
}
 
void loop() {

   counter += 1; 
   // establish variables for duration of the ping,
   // and the distance result in centimeters:
   long duration, cm;

   // The PING))) is triggered by a HIGH pulse of 2 or more microseconds.
   // Give a short LOW pulse beforehand to ensure a clean HIGH pulse:
   pinMode(pingPin, OUTPUT);
   digitalWrite(pingPin, LOW);
   delayMicroseconds(2);
   digitalWrite(pingPin, HIGH);
   delayMicroseconds(5);
   digitalWrite(pingPin, LOW);

   // The same pin is used to read the signal from the PING))): a HIGH
   // pulse whose duration is the time (in microseconds) from the sending
   // of the ping to the reception of its echo off of an object.
   pinMode(pingPin, INPUT);
   duration = pulseIn(pingPin, HIGH);
 
   // convert the time into a distance
   cm = microsecondsToCentimeters(duration);

   int digitalValue = microsecondsToCentimeters(duration);
 
   Serial.print(cm);
   Serial.print("cm");
   Serial.print(", counter ");
   Serial.print(counter);
   Serial.println();
 
   delay(100);

        if(counter >= wait) {      // If the counter reaches the benchmark of "wait" (5250 distance measurments) start calibration movement

        digitalWrite(trans1, HIGH);
        digitalWrite(trans2, HIGH);
        digitalWrite(trans3, HIGH);
        servo1.writeMicroseconds(620);
        servo2.writeMicroseconds(570);
        servo3.writeMicroseconds(600);
        delay(100);
        servo2.slowmove(2500, 40);
        delay(1800);
        digitalWrite(trans1, LOW);
        digitalWrite(trans2, LOW);
        digitalWrite(trans3, LOW);
        delay(5000); 
        digitalWrite(trans1, HIGH);
        digitalWrite(trans2, HIGH);
        digitalWrite(trans3, HIGH);
        servo2.slowmove(600, 40);
        delay(1500);
        servo2.writeMicroseconds(600);
        delay(100);
        digitalWrite(trans1, LOW);
        digitalWrite(trans2, LOW);
        digitalWrite(trans3, LOW);
        counter = 0;                        // reset counter to 0
}

        if(digitalValue < threshold) {      // If the measured distance drops below 140cm start full movement of the fan
        counter = 0;                        // reset counter to 0

        digitalWrite(trans1, HIGH);
        digitalWrite(trans2, HIGH);
        digitalWrite(trans3, HIGH);
        servo1.slowmove(1625, 120);
        delay(350);
        servo2.slowmove(2500, 160);
        delay(600);
        digitalWrite(trans2, LOW);
        digitalWrite(trans3, LOW);
        delay(500);
        digitalWrite(trans1, HIGH);
        digitalWrite(trans3, HIGH);
        servo1.slowmove(880, 20);
        servo3.slowmove(2350, 60);
        delay(1300);
        digitalWrite(trans3, LOW);
        delay(50);
        digitalWrite(trans1, LOW);
        delay(4000);
        digitalWrite(trans1, HIGH);
        digitalWrite(trans2, HIGH);
        digitalWrite(trans3, HIGH);
        servo1.slowmove(620, 10);
        servo2.slowmove(625, 40);
        servo3.slowmove(580, 40);
        delay(1620);
        servo2.writeMicroseconds(570);
        delay(200);
        digitalWrite(trans1, LOW);
        digitalWrite(trans2, LOW);
        digitalWrite(trans3, LOW);
        delay(4000);

        counter = 0;                        // reset counter to 0

    }
}