auto/perturbatii probleme

// definirea pinului de pas, respectiv de directie pentru motorul pas cu pas miscare verticala
#define stepPin 48
#define dirPin 46
#define ls3in 32
#define ls4in 22

// definirea pinului de pas, respectiv de directie pentru motorul pas cu pas miscare orizontala lopata
#define stepPin2 44
#define dirPin2 42
#define ls2in 34

// definirea pinului de pas, respectiv de directie pentru motorul pas cu pas miscare orizontala masa
#define stepPin3 40
#define dirPin3 38
#define ls1in 36

//////////////// senzori///////////////
#define ls0in 52
#define so1in 50 //intrarea primului senzor de obstacole

//////////////relee/////////////////////////
#define relay1 30
#define relay2 28
#define relay3 26
#define relay4 24

////// definim butoanele + switch
#define swin 23  //switch
#define start_button 20
#define stop_button 21


int so1 = 0;

int sw_val = 0;

const byte ROWS = 4; // Four rows
const byte COLS = 4; // Three columns


char keys[ROWS][COLS] = { // Define the Keymap
  {'1', '2', '3', 'A'},
  {'4', '5', '6', 'B'},
  {'7', '8', '9', 'C'},
  {'*', '0', '#', 'D'}
};
char opposite_keys[ROWS][COLS] = { // Define the Keymap
  {NULL, NULL, NULL, NULL},
  {NULL, NULL, NULL, NULL},
  {'^', '%', '$', NULL},
  {NULL, '@', NULL, NULL}
};

byte rowPins[ROWS] = { 2, 3, 4, 5 };// Connect keypad ROW0, ROW1, ROW2 and ROW3 to these Arduino pins.

byte colPins[COLS] = { 6, 7, 8 , 9}; // Connect keypad COL0, COL1 and COL2 to these Arduino pins.

int opposite_key = NULL;
bool flag_alarm = true;
int current_state = -1;

byte chA = 18;
byte chB = 19;
int encoder_value = 0;

void setup()
{
  pinMode(stepPin, OUTPUT);
  pinMode(dirPin, OUTPUT);
  pinMode(ls3in, INPUT);
  pinMode(ls4in, INPUT);

  pinMode(stepPin2, OUTPUT);
  pinMode(dirPin2, OUTPUT);
  pinMode(ls2in, INPUT);

  pinMode(stepPin3, OUTPUT);
  pinMode(dirPin3, OUTPUT);
  pinMode(ls1in, INPUT);

  pinMode(so1in, INPUT);
  pinMode(ls0in, INPUT);

  pinMode(relay1, OUTPUT);
  pinMode(relay2, OUTPUT);
  pinMode(relay3, OUTPUT);
  pinMode(relay4, OUTPUT);

  // pinmode pentru cele doua butoane si switch
  pinMode(swin, INPUT_PULLUP);
  pinMode(start_button, INPUT_PULLUP);
  pinMode(stop_button, INPUT_PULLUP);



  // declararea pinilor de input respectiv output pentru tastatura 4x4
  pinMode(6, INPUT);
  pinMode(7, INPUT);
  pinMode(8, INPUT);
  pinMode(9, INPUT);
  pinMode(2, OUTPUT);
  pinMode(3, OUTPUT);
  pinMode(4, OUTPUT);
  pinMode(5, OUTPUT);
  ///////////////////////////////
  // setarea starii high pentru pinii asociati coloanelor

  digitalWrite(6, HIGH);
  digitalWrite(7, HIGH);
  digitalWrite(8, HIGH);
  digitalWrite(9, HIGH);

  digitalWrite(relay1, HIGH);
  digitalWrite(relay2, HIGH);
  digitalWrite(relay3, HIGH);
  digitalWrite(relay4, HIGH);

  ///// releul e COM_NC neenergizat, pe semnal LOW se conecteaza COM_NO iar pe semnal HIGH se conecteaza COM_NC.
  Serial.begin(9600);

  attachInterrupt(digitalPinToInterrupt(stop_button), alarm, FALLING);
  attachInterrupt(digitalPinToInterrupt(start_button), reset_alarm, FALLING);
  // attachInterrupt(digitalPinToInterrupt(stop_button), cw, RISING);
  // attachInterrupt(digitalPinToInterrupt(start_button), ccw, RISING);
}

void loop() {
  sw_val = digitalRead(swin);
  if(start_button == 0){
   Serial.println("buton apasat/perturbatie");
  }
  if (sw_val == 0 && flag_alarm == false) {     // sw_val == 0 coincide cu modul AUTOMAT
    automat();
  }
  else if (sw_val == 1) { //sw_val == 1 conincide cu modul MANUAL
    current_state = -1;
    manual();

  }
}


char read_keyboard()
{
  for ( uint8_t i = 2; i < 6; ++i) {
    digitalWrite(i, LOW);
    for ( uint8_t j = 6; j < 10; ++j) {
      int key = digitalRead(j);
      if (!key)
      {
        digitalWrite(i, HIGH);
        opposite_key = (opposite_keys[i - 2][j - 6]);
        return (keys[i - 2][j - 6]);
      }
    }
    digitalWrite(i, HIGH);
  }
  return opposite_key;
}


void manual() {
  char a = read_keyboard();
  //Serial.println(a);
  switch (a)
  {

    case '0': //pompa pornita
      {
        if (digitalRead(so1in) == 0) {
          pump_on();
        }
        break;
      }
    case '@': //pompa oprita
      {
        pump_off();
        reset_opposite_key();     //opposite_character = NULL ;
        break;
      }
    case '1': //stepper miscare sus
      {

        if (digitalRead(ls3in) == 0) {
          break;
        }
        else {
          move_motor(stepPin, dirPin, HIGH, 130);
          break;
        }
      }
    case '4': //stepper miscare jos
      {
        if (digitalRead(ls4in) == 0) {
          break;
        }
        else {
          move_motor(stepPin, dirPin, LOW, 130);
          break;
        }
      }
    case '3': //stepper lopata miscare stanga
      {

        if (digitalRead(ls2in) == 0) {
          break;
        }
        else {
          move_motor(stepPin2, dirPin2, HIGH, 1000);
          break;
        }
      }
    case '2': //stepper lopata miscare dreapta
      {
        move_motor(stepPin2, dirPin2, LOW, 1000);
        break;

      }
    case '6': //stepper masa miscare stanga
      {

        if (digitalRead(ls1in) == 0) {
          break;
        }
        else {
          move_motor(stepPin3, dirPin3, HIGH, 100);
          break;
        }
      }
    case '5': //stepper masa miscare dreapta
      {
        move_motor(stepPin3, dirPin3, LOW, 100);
        break;
      }
    case '9': // miscare banda
      {
        if (digitalRead(ls0in) == 0) { // trebuie modificat
          conveyor_off();
          break;
        }
        else
        {
          conveyor_on();
          break;
        }
      }

    case '$' : // opposite 9
      {
        conveyor_off();
        reset_opposite_key();   //opposite_character = NULL ;
        break;
      }
    case '8': //invartire sens orar(privit de sus)
      {
        motor_cw();
        break;
      }
    case '%':
      {
        motor_stop();
        reset_opposite_key();    //opposite_character = NULL ;
        break;
      }
    case '7': //invartire sens trigonometric(privit de sus)
      {
        motor_ccw();
        break;
      }
    case '^':
      {
        motor_stop();
        reset_opposite_key();   //opposite_character = NULL ;
        break;
      }

  }
}

/////////////////////////////// automat /////////////////////////
void automat() {

  switch (current_state)
  {
    case 0 :
      {
        initialize();
        //Serial.println("Am intrat pe case 0");
        break;
      }

    case 1 :
      {
//        conveyor_on();
//        current_state = 2;
//        break;
      }
    case 2:
      {
//        if (digitalRead(so1in) == 0) {
//          conveyor_off();
//          Serial.println("all good");
//        }
      }
      case 3:
      {

      }

  }
}
////////////////////////////// states///////////////////////////

void initialize()
{
  pump_off();
  conveyor_off();
  motor_stop();

  if (digitalRead(ls1in) == 1) {
    move_motor(stepPin3, dirPin3, HIGH, 100);
  }
  else
  {
    if (digitalRead(ls2in) == 1) {
      move_motor(stepPin2, dirPin2, HIGH, 1000);
    }
    else
    {
      if (digitalRead(ls3in) == 1) {
        move_motor(stepPin, dirPin, HIGH, 130);
      }
    }
  }
  if (digitalRead(ls1in) == 0 && digitalRead(ls2in) == 0 && digitalRead(ls3in) == 0)
  {
    current_state = 1;
  }

}



//////////////////////////////// helper functions/////////////////

void conveyor_on() //miscare banda pornita
{
  digitalWrite(relay1, LOW);
}

void conveyor_off() //miscare banda oprita
{
  digitalWrite(relay1, HIGH);
}

void motor_cw() //motor infiletare sens orar
{
  digitalWrite(relay4, LOW);
}

void motor_ccw() // motor infiletare sens trigonometric
{
  digitalWrite(relay3, LOW);
}

void motor_stop() //motor infiletare este oprit
{
  digitalWrite(relay3, HIGH);
  digitalWrite(relay4, HIGH);
}

void pump_on()
{
  digitalWrite(relay2, LOW);
}

void pump_off()
{
  digitalWrite(relay2, HIGH);
}

void reset_opposite_key()
{
  opposite_key = NULL;
}


void cw()
{
  if (digitalRead(chA) > digitalRead(chB))
  {
    encoder_value++ ;
  }
}

void ccw()
{
  if (digitalRead(chA) > digitalRead(chB))
  {
    encoder_value-- ;

  }
}

// functie pentru steppere
void move_motor(int motor_pin, int dir_pin, int direction, int delay) {
  digitalWrite(dir_pin, direction);
  digitalWrite(motor_pin, HIGH);
  digitalWrite(motor_pin, LOW);
  delayMicroseconds(delay);
  //ST1-SW123-011, comutator 111100;  delay micro 130
  //ST2-SW123-010, comutator 111011;  delay micro 1000
  //ST2-SW123--010, comutator 001100; delay micro 100
}

void alarm() {
  motor_stop();
  pump_off();
  conveyor_off();
  flag_alarm = true;

}

void reset_alarm() {
  flag_alarm = false;
  current_state = 0;
}