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Merevoli
May 21st, 2022
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  1. #include "Keypad.h" // khai bao thư vien keypad
  2. #include "Servo.h"
  3. #include "Adafruit_GFX.h"       // khai bao thư vien Adafruit graphics library
  4. #include "Adafruit_ILI9341.h"   // khai bao thư vien Adafruit ILI9341 TFT library
  5.  
  6. #define TFT_CS 8 // khai bao chan cs
  7. #define TFT_RST 9 // khai bao chan reset
  8. #define TFT_DC 53 // khai bao chan dc
  9.  
  10. // -------------------------LCD Setup-----------------------------------------
  11. // initialize ILI9341 TFT library
  12. Adafruit_ILI9341 tft = Adafruit_ILI9341(TFT_CS, TFT_DC, TFT_RST);
  13.  
  14. // -------------------------Keypad Setup---------------------------------------
  15. const byte ROWS = 4; // Four Rows
  16. const byte COLS = 4; // Four Columns
  17. char keys[ROWS][COLS] = {
  18.     {'7','8','9','A'},
  19.     {'4','5','6','B'},
  20.     {'1','2','3','C'},
  21.     {'*','0','#','D'}
  22. };
  23. const int MOTOR_PIN_SIZE = 12;
  24. const int MOTOR_PINS[13] = {-1, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33};
  25. int MOTOR_PIN_STATUS[13] = {-1, HIGH, HIGH, HIGH, HIGH, HIGH, HIGH, HIGH, HIGH, HIGH, HIGH, HIGH, HIGH};
  26.  
  27. Servo myservo;
  28. int degree = 30;
  29.  
  30. String key_tittle_mapping[16][2] = {
  31.     {"7", "START"},
  32.     {"8", "RESET"},
  33.     {"9", "<"},
  34.     {"A", ">"},
  35.     {"4", "BACK RISE"},
  36.     {"5", "BACK DOWN"},
  37.     {"6", "^"},
  38.     {"B", "v"},
  39.     {"1", "SIT UP"},
  40.     {"2", "LEG DOWN"},
  41.     {"3", "LEFT TURN"},
  42.     {"C", "RIGHT TURN"},
  43.     {"*", "BEDPAN ON"},
  44.     {"0", "BEDPAN OFF"},
  45.     {"#", "AUTO TURN A"},
  46.     {"D", "AUTO TURN B"},
  47. };
  48.  
  49. byte rowPins[ROWS] = {A8, A9, A10, A11}; // Arduino pins connected to the row pins of the keypad
  50. byte colPins[COLS] = {A12, A13, A14, A15}; // Arduino pins connected to the column pins of the keypad
  51. Keypad keypad_key = Keypad(makeKeymap(keys), rowPins, colPins, ROWS, COLS); // Keypad Library definition
  52. int DOWN_MOVES[8][2] = {
  53.     {194, 80},
  54.     {194, 83},
  55.     {194, 86},
  56.     {195, 89},
  57.     {196, 92},
  58.     {197, 95},
  59.     {199, 98},
  60.     {200, 100}
  61. };
  62.  
  63. int TOP_MOVES[8][2] = {
  64.     {306, 80},
  65.     {306, 77},
  66.     {306, 73},
  67.     {305, 70},
  68.     {304, 68},
  69.     {303, 66},
  70.     {302, 63},
  71.     {300, 60}
  72. };
  73.  
  74. int current_top_pos = 0;
  75. int current_down_pos = 0;
  76.  
  77.  
  78. int find_str(String str, char find_chr){
  79.     for (int pos=0; pos<str.length(); pos++){
  80.         if (str[pos] == find_chr){
  81.             return pos;
  82.         }
  83.     }
  84.     return -1;
  85. }
  86.  
  87. String get_key_tittle_mapping(char key){
  88.     String str_key = String(key);
  89.  
  90.     for (int i=0; i<ROWS * COLS; i++){
  91.         if (key_tittle_mapping[i][0] == str_key){
  92.             return key_tittle_mapping[i][1];
  93.         }
  94.     }
  95.     return "";
  96. }
  97.  
  98. void get_pos(char key, int &pos_x, int &pos_y) {  // get (x, y)
  99.     for (int col=1; col <= COLS; col++){
  100.         for (int row=1; row <= ROWS; row++){
  101.             if (keys[row - 1][col - 1] == key){
  102.                 pos_x = col;
  103.                 pos_y = row;
  104.                 return;
  105.             }
  106.         }
  107.     }
  108.    
  109.     pos_x = 0;
  110.     pos_y = 0;
  111. }
  112.  
  113. void draw_button(String tittle, int pos_x, int pos_y, int color = 0){
  114.     pos_x = 15 + (pos_x - 1) * 45;
  115.     pos_y = 40 + (pos_y - 1) * 45;
  116.  
  117.     uint16_t button_color;
  118.     if (color == 0) { // green
  119.         button_color = tft.color565(64, 237, 39);
  120.     }
  121.     else { // red
  122.         button_color = tft.color565(238, 38, 91);
  123.     }
  124.     int pos_first_space = find_str(tittle, ' ');
  125.     if (pos_first_space != -1) {
  126.         String word_up = tittle.substring(0, pos_first_space);
  127.         String word_down = tittle.substring(pos_first_space + 1);
  128.  
  129.         tft.fillRect(pos_x, pos_y, 40, 40, button_color);
  130.         tft.setCursor(pos_x + 3, pos_y + 10);
  131.         tft.setTextColor(tft.color565(0, 0, 0));
  132.         tft.setTextSize(1);
  133.         tft.println(word_up);
  134.  
  135.         tft.setCursor(pos_x + 3, pos_y + 20);
  136.         tft.setTextColor(tft.color565(0, 0, 0));
  137.         tft.setTextSize(1);
  138.         tft.println(word_down);
  139.     }
  140.     else {
  141.         int text_size = 1;
  142.  
  143.         if (tittle == ">" || tittle == "<" || tittle == "v") {
  144.             text_size = 3;
  145.         }
  146.         else if (tittle == "^"){
  147.             text_size = 4;
  148.         }
  149.         tft.fillRect(pos_x, pos_y, 40, 40, button_color);
  150.         tft.setCursor(pos_x + 5, pos_y + 15);
  151.         tft.setTextColor(tft.color565(0, 0, 0));
  152.         tft.setTextSize(text_size);
  153.         tft.println(tittle);
  154.     }
  155. }
  156.  
  157. void poweron_screen() {
  158.     tft.fillRect(0, 0, 320, 240, tft.color565(200,200, 200));
  159.     tft.fillRoundRect(20, 20, 280, 200, 20, tft.color565(243,87, 35));
  160.     tft.setCursor(90, 90);
  161.     tft.setTextColor(tft.color565(255, 255, 255));
  162.     tft.setTextSize(8);
  163.     tft.println("M2D ");
  164. }
  165.  
  166. void startup_screen() {
  167.     tft.fillRect(0, 0, 320, 240, tft.color565(164,255, 255));
  168.     tft.setCursor(50, 80);
  169.     tft.setTextColor(tft.color565(0, 164, 164));
  170.     tft.setTextSize(3);
  171.     tft.println("GIUONG HO TRO ");
  172.     tft.setCursor(40, 110);
  173.     tft.setTextColor(tft.color565(243, 87, 35));
  174.     tft.setTextSize(3);
  175.     tft.println("NGUOI TAI BIEN");
  176. }
  177.  
  178. void init_screen(){
  179.     tft.fillScreen(tft.color565(0, 0, 0));
  180.  
  181.     tft.fillRect(10, 10, 300, 220, tft.color565(116, 139, 248));
  182.     tft.setCursor(20, 20);
  183.     tft.setTextColor(tft.color565(159, 30, 6));
  184.     tft.setTextSize(2);
  185.     tft.println("MAIN CONTROL");
  186.    
  187.     tft.drawLine(230, 80, 194, 80, ILI9341_WHITE);
  188.     tft.drawLine(230, 80, 270, 80, ILI9341_WHITE);
  189.     tft.drawLine(270, 80, 306, 80, ILI9341_WHITE);
  190. }
  191.  
  192. void reset_screen(){
  193.     for (int col=1; col <= COLS; col++){
  194.         for (int row=1; row <= ROWS; row++){
  195.             String tittle = get_key_tittle_mapping(keys[row - 1][col - 1]);
  196.             draw_button(tittle, col, row, 0);
  197.         }
  198.     }
  199. }
  200.  
  201. void delay_with_animation(int delay_time){
  202.     unsigned long start_mili = millis();
  203.  
  204.     while (true){
  205.         unsigned long current_mili = millis();
  206.         if (current_mili - start_mili >= delay_time * 1000) {
  207.             break;
  208.         }
  209.  
  210.         if (start_mili % 200 == 0){
  211.             handle_bed_animation();
  212.         }
  213.     }
  214.  
  215. }
  216.  
  217. void handle_motor_step(
  218.     String type,
  219.     int data_1 = 0,
  220.     int data_2 = 0,
  221.     int data_3 = 0,
  222.     int data_4 = 0,
  223.     int data_5 = 0,
  224.     int data_6 = 0,
  225.     int data_7 = 0,
  226.     int data_8 = 0,
  227.     int data_9 = 0,
  228.     int data_10 = 0,
  229.     int data_11 = 0,
  230.     int data_12 = 0
  231. ){
  232.     if (type == "pin") {
  233.         int signal[12] = {data_1, data_2, data_3, data_4, data_5, data_6, data_7, data_8, data_9, data_10, data_11, data_12};
  234.  
  235.         for (int pin_no = 1; pin_no <= MOTOR_PIN_SIZE; pin_no++){
  236.             if (signal[pin_no - 1] != -1){
  237.                 digitalWrite(MOTOR_PINS[pin_no], signal[pin_no - 1]);
  238.                 MOTOR_PIN_STATUS[pin_no] = signal[pin_no - 1];
  239.             }
  240.         }
  241.     }
  242.     else if (type == "pin_reset_high") {
  243.         for (int pin_no = 1; pin_no <= MOTOR_PIN_SIZE; pin_no++){
  244.             digitalWrite(MOTOR_PINS[pin_no], HIGH);
  245.             MOTOR_PIN_STATUS[pin_no] = HIGH;
  246.         }
  247.     }
  248.     else if (type == "delay") {
  249.         int delay_time = data_1*1000;
  250.         delay_with_animation(delay_time);
  251.     }
  252.     else if (type == "degree_add") {
  253.         int degree_add_value = data_1;
  254.         degree += degree_add_value;
  255.     }
  256.     else if (type == "degree") {
  257.         int degree_new_value = data_1;
  258.         degree = degree_new_value;
  259.     }
  260. }
  261.  
  262.  
  263. void handle_motor(char key) {
  264.     switch (key)
  265.     {
  266.     case '8': // RESET
  267.         handle_motor_step("pin", LOW, HIGH, LOW, HIGH, LOW, HIGH, LOW, HIGH, LOW, HIGH, HIGH, HIGH);
  268.         handle_motor_step("delay", 4);
  269.         handle_motor_step("pin_reset_high");
  270.         break;
  271.    
  272.     case '9': // <
  273.         handle_motor_step("degree", min(60, degree + 10));
  274.         break;
  275.    
  276.     case 'A': // >
  277.         handle_motor_step("degree", max(0, degree - 10));
  278.         break;
  279.  
  280.     case '6': // ^
  281.         handle_motor_step("pin", -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, HIGH, LOW);
  282.         handle_motor_step("delay", 3);
  283.         handle_motor_step("pin_reset_high");
  284.         break;
  285.  
  286.     case 'B': // v
  287.         handle_motor_step("pin", -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, LOW, HIGH);
  288.         handle_motor_step("delay", 3);
  289.         handle_motor_step("pin_reset_high");
  290.         break;
  291.  
  292.     case '4': // BACK RISE
  293.         handle_motor_step("pin", HIGH, LOW, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1);
  294.         handle_motor_step("delay", 4);
  295.         handle_motor_step("pin_reset_high");
  296.         break;
  297.  
  298.     case '5': // BACK DOWN
  299.         handle_motor_step("pin", LOW, HIGH, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1);
  300.         handle_motor_step("delay", 4);
  301.         handle_motor_step("pin_reset_high");
  302.         break;
  303.  
  304.     case '1': // SIT UP
  305.         handle_motor_step("pin", HIGH, LOW, HIGH, LOW, -1, -1, -1, -1, -1, -1, -1, -1);
  306.         handle_motor_step("delay", 4);
  307.         handle_motor_step("pin_reset_high");
  308.         break;
  309.  
  310.     case '2': // LEG DOWN
  311.         handle_motor_step("pin", -1, -1, HIGH, LOW, -1, -1, -1, -1, -1, -1, -1, -1);
  312.         handle_motor_step("delay", 4);
  313.         handle_motor_step("pin_reset_high");
  314.         break;
  315.  
  316.     case 'C': // RIGHT TURN
  317.         handle_motor_step("pin", -1, -1, -1, -1, -1, -1, HIGH, LOW, -1, -1, -1, -1);
  318.         handle_motor_step("delay", 4);
  319.         handle_motor_step("pin_reset_high");
  320.         break;
  321.  
  322.     case '3': // LEFT TURN
  323.         handle_motor_step("pin", -1, -1, -1, -1, HIGH, LOW, -1, -1, -1, -1, -1, -1);
  324.         handle_motor_step("delay", 4);
  325.         handle_motor_step("pin_reset_high");
  326.         break;
  327.     case '#': // AUTO TURN A
  328.         handle_motor_step("pin", -1, -1, -1, -1, HIGH, LOW, -1, -1, -1, -1, -1, -1);
  329.         handle_motor_step("delay", 4);
  330.         handle_motor_step("pin_reset_high");
  331.         handle_motor_step("delay", 5);
  332.         handle_motor_step("pin", -1, -1, -1, -1, LOW, HIGH, -1, -1, -1, -1, -1, -1);
  333.         handle_motor_step("delay", 4);
  334.         handle_motor_step("pin_reset_high");
  335.         handle_motor_step("pin", -1, -1, -1, -1, -1, -1, HIGH, LOW, -1, -1, -1, -1);
  336.         handle_motor_step("delay", 4);
  337.         handle_motor_step("pin_reset_high");
  338.         handle_motor_step("delay", 5);
  339.         handle_motor_step("pin", -1, -1, -1, -1, -1, -1, LOW, HIGH, -1, -1, -1, -1);
  340.         handle_motor_step("delay", 4);
  341.         handle_motor_step("pin_reset_high");
  342.         break;
  343.     case 'D': // AUTO TURN B
  344.         handle_motor_step("pin", HIGH, LOW, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1);
  345.         handle_motor_step("delay", 4);
  346.         handle_motor_step("pin_reset_high");
  347.         handle_motor_step("delay", 5);
  348.         handle_motor_step("pin", LOW, HIGH, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1);
  349.         handle_motor_step("delay", 4);
  350.         handle_motor_step("pin_reset_high");
  351.         handle_motor_step("delay", 5);
  352.         handle_motor_step("pin_reset_high");
  353.         break;
  354.     case '*': // BEDPAN ON
  355.         handle_motor_step("pin", -1, -1, -1, -1, -1, -1, -1, -1, HIGH, LOW, -1, -1);
  356.         handle_motor_step("delay", 4);
  357.         handle_motor_step("pin_reset_high");
  358.         break;
  359.     case '0': // BEDPAN OFF
  360.         handle_motor_step("pin", -1, -1, -1, -1, -1, -1, -1, -1, LOW, HIGH, -1, -1);
  361.         handle_motor_step("delay", 4);
  362.         handle_motor_step("pin_reset_high");
  363.         break;
  364.     default:
  365.         break;
  366.     }
  367. }
  368.  
  369. void make_red_start_button(){
  370.     char key = '7';
  371.     int pos_x = 0;
  372.     int pos_y = 0;
  373.     get_pos(key, pos_x, pos_y);
  374.     String tittle = get_key_tittle_mapping(key);
  375.     draw_button(tittle, pos_x, pos_y, 1);
  376. }
  377.  
  378. void handle_bed_animation(){
  379.     tft.fillRect(194, 10, 300, 220, tft.color565(116, 139, 248));
  380.     Serial.println("bed animation");
  381.  
  382.     if (MOTOR_PIN_STATUS[1] != MOTOR_PIN_STATUS[2]){
  383.         if (MOTOR_PIN_STATUS[1] = LOW){
  384.             current_top_pos = max(0, current_top_pos - 1);
  385.         }
  386.         else{
  387.             current_top_pos = min(7, current_top_pos + 1);
  388.         }
  389.     }
  390.  
  391.     if (MOTOR_PIN_STATUS[3] != MOTOR_PIN_STATUS[4]){
  392.         if (MOTOR_PIN_STATUS[3] = LOW){
  393.             current_down_pos = max(0, current_down_pos - 1);
  394.         }
  395.         else{
  396.             current_down_pos = min(7, current_down_pos + 1);
  397.         }
  398.     }
  399.  
  400.     tft.drawLine(230, 80, DOWN_MOVES[current_down_pos][0], DOWN_MOVES[current_down_pos][1], ILI9341_WHITE);
  401.     tft.drawLine(230, 80, 270, 80, ILI9341_WHITE);
  402.     tft.drawLine(270, 80, TOP_MOVES[current_top_pos][0], TOP_MOVES[current_top_pos][1], ILI9341_WHITE);
  403. }
  404.  
  405. void setup() {
  406.     Serial.begin(9600);
  407.     Serial.println("start");
  408.  
  409.     for (int pin_no = 1; pin_no <= MOTOR_PIN_SIZE; pin_no++){
  410.         pinMode(MOTOR_PINS[pin_no], OUTPUT);
  411.     }
  412.  
  413.     tft.begin();
  414.     tft.setRotation(3);
  415.     bool is_init_screen = false;
  416.     poweron_screen();
  417.  
  418.     while (!is_init_screen){
  419.         char key = keypad_key.waitForKey();
  420.         if (key != NO_KEY){
  421.             if (key == '7'){
  422.                 startup_screen();
  423.                 delay(1000);
  424.                 init_screen();
  425.                 is_init_screen = true;
  426.                 int pos_x = 0;
  427.                 int pos_y = 0;
  428.                 get_pos(key, pos_x, pos_y);
  429.                 String tittle = get_key_tittle_mapping(key);
  430.                 reset_screen();
  431.                 draw_button(tittle, pos_x, pos_y, 1);
  432.             }
  433.         }
  434.        
  435.         myservo.attach(11, 500, 2500);
  436.     }
  437. }
  438.  
  439. void loop() {
  440.     char key = keypad_key.getKey();
  441.  
  442.     if (key != NO_KEY){
  443.         int pos_x = 0;
  444.         int pos_y = 0;
  445.         get_pos(key, pos_x, pos_y);
  446.         String tittle = get_key_tittle_mapping(key);
  447.         reset_screen();
  448.         make_red_start_button();
  449.         draw_button(tittle, pos_x, pos_y, 1);
  450.         handle_motor(key);
  451.     } myservo.write(degree);
  452.  
  453. }
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