Lahcen_PFE

/*Libraries*/
#include <Servo.h>
#include <Wire.h>
#include <LiquidCrystal_I2C.h>
#include <SimpleDHT.h>

/*Pins*/
#define trig_Pin A3
#define echo_Pin A2
#define motorPin1 8
#define motorPin2 9
#define motor2Pin1 10
#define motor2Pin2 11
#define pinDHT11 5
#define PIN_PIR 2

/*Instances*/
SimpleDHT11 dht11(pinDHT11);
LiquidCrystal_I2C lcd(0x27, 20, 4);
Servo myservo;

/*Variables*/
int distance = 100;
int distanceR = 0;
int distanceL =  0;
int Time = 0;
int Temp;
int Humidity;
int state = 0;
unsigned long tempoMesure = 0;
byte temperature = 0;
byte humidity = 0;
int stAlarm = 0;
int stTemp = 0;
float slAlarmTemp = 35;
boolean blAlarm = 0;
String received;


void setup() {
  Serial.begin(9600);
  lcd.begin();
  myservo.attach(7);
  myservo.write(70);
  pinMode(motorPin1, OUTPUT);
  pinMode(motorPin2, OUTPUT);
  pinMode(motor2Pin1, OUTPUT);
  pinMode(motor2Pin2, OUTPUT);
  pinMode(trig_Pin, OUTPUT);
  pinMode(echo_Pin, INPUT);
  pinMode(PIN_PIR, INPUT);
  delay(1000);
}

void loop()
{
  /*Chaque 5s mesurer la temperature et l'humidité
  et tester la proximité (PIR)*/
  tempoMesure = millis();
  if (millis() - tempoMesure > 5000)
  {
    mesureTemperature();
    proximite();
  }
}

/*
  Fonctions:
  |->int obstacle()
  |->int lookRight()
  |->int lookLeft()
  |->void avant()
  |->void arriere()
  |->void stop()
  |->void droite()
  |->void gauche()
  |
  |->void getTemperature()
  |->void proximite()
  |->void mesureTemperature()
*/
int obstacle()
{
  digitalWrite(trig_Pin, HIGH);
  delayMicroseconds(1000);
  digitalWrite(trig_Pin, LOW);
  Time = pulseIn(echo_Pin, HIGH);
  distance = (Time / 29.1) / 2;
  if (distance < 0)
    distance = 0;
  if (distance > 200)
    distance = 200;
  return distance;
}

int lookRight()
{
  myservo.write(0);
  delay(500);
  distance = obstacle();
  delay(200);
  myservo.write(70);
  return distance;
}

int lookLeft()
{
  myservo.write(170);
  delay(500);
  distance = obstacle();
  delay(200);
  myservo.write(70);
  return distance;
}

void avant() {
  if (distance <= 40)
  { digitalWrite(motorPin1, HIGH);
    digitalWrite(motorPin2, HIGH);
    digitalWrite(motor2Pin1, HIGH);
    digitalWrite(motor2Pin2, HIGH);
    delay(2000);
    distanceR = lookRight();
    delay(200);
    distanceL = lookLeft();
    delay(200);
    if (distanceR >= distanceL)
    {
      digitalWrite(motorPin1, HIGH);
      digitalWrite(motorPin2, LOW);
      digitalWrite(motor2Pin1, HIGH);
      digitalWrite(motor2Pin2, HIGH);
    } else
    {
      digitalWrite(motorPin1, HIGH);
      digitalWrite(motorPin2, HIGH);
      digitalWrite(motor2Pin1, HIGH);
      digitalWrite(motor2Pin2, LOW);
    }
  }
}

void arriere() {
  digitalWrite(motorPin1, LOW);
  digitalWrite(motorPin2, HIGH);
  digitalWrite(motor2Pin1, LOW);
  digitalWrite(motor2Pin2, HIGH);
}

void stop() {
  digitalWrite(motorPin1, HIGH);
  digitalWrite(motorPin2, HIGH);
  digitalWrite(motor2Pin1, HIGH);
  digitalWrite(motor2Pin2, HIGH);
}

void droite() {
  if (distance <= 40)
  {
    distanceR = lookRight();
    delay(200);
    distanceL = lookLeft();
    delay(200);
    if (distanceR >= distanceL)
    {
      digitalWrite(motorPin1, HIGH);
      digitalWrite(motorPin2, LOW);
      digitalWrite(motor2Pin1, HIGH);
      digitalWrite(motor2Pin2, HIGH);
    } else
    {
      digitalWrite(motorPin1, HIGH);
      digitalWrite(motorPin2, HIGH);
      digitalWrite(motor2Pin1, HIGH);
      digitalWrite(motor2Pin2, LOW);
    }
  }
  else
  {
    digitalWrite(motorPin1, HIGH);
    digitalWrite(motorPin2, HIGH);
    digitalWrite(motor2Pin1, HIGH);
    digitalWrite(motor2Pin2, LOW);
  }
}

void gauche() {
  if (distance <= 40)
  {
    distanceR = lookRight();
    delay(200);
    distanceL = lookLeft();
    delay(200);
    if (distanceR >= distanceL)
    {
      digitalWrite(motorPin1, HIGH);
      digitalWrite(motorPin2, LOW);
      digitalWrite(motor2Pin1, HIGH);
      digitalWrite(motor2Pin2, HIGH);

    } else
    {
      digitalWrite(motorPin1, HIGH);
      digitalWrite(motorPin2, HIGH);
      digitalWrite(motor2Pin1, HIGH);
      digitalWrite(motor2Pin2, LOW);
    }
  }
  else
  {
    digitalWrite(motorPin1, HIGH);
    digitalWrite(motorPin2, LOW);
    digitalWrite(motor2Pin1, HIGH);
    digitalWrite(motor2Pin2, HIGH);
  }
}

/*
  Fonction qui découpe une chaine de
  charactère en sous chaines de charactères
  pour separer les differentes commandes reçus
*/
void decoupeur(String inputString) {
  char inputChar[inputString.length() + 1] ;
  inputString.toCharArray(inputChar, inputString.length() + 1);
  char* command = strtok(inputChar, "&");
  while (command != 0)
  {
    char* valueCommand = strchr(command, '=');
    if (valueCommand != 0)
    {
      *valueCommand = 0;
      ++valueCommand;
      if (String(command) == "slalarm") {
        slAlarmTemp = String(valueCommand).toFloat();
      } else if (String(command) == "color") {
      }
    }
    command = strtok(0, "&");
  }
}

void getTemperature() {

  temperature = 0;
  humidity = 0;
  int err = SimpleDHTErrSuccess;
  if ((err = dht11.read(&temperature, &humidity, NULL)) != SimpleDHTErrSuccess) {
    Serial.print("Read DHT11 failed, err="); Serial.println(err); delay(1000);
    return;
  }
  Serial.print("Sample OK: ");
  Serial.print((int)temperature); Serial.print(" *C, ");
  Serial.print((int)humidity); Serial.println(" H");
}

void proximite() {
  if (digitalRead(PIN_PIR) == HIGH && blAlarm == 0) {

    blAlarm = 1;
    if (stAlarm == 1) {
      Serial.println("alarm=1" );
    }
  }
  else if (digitalRead(PIN_PIR) == LOW) {
    blAlarm = 0;
  }
}

void mesureTemperature() {
  if (stTemp == 1) {
    getTemperature();
    Serial.println("temp=" + String(temperature) );
    Serial.println("hum=" + String(humidity) );
  }
}

/*
  Function d'interruption
  elle est executée dès qu'une
  trame arrive au port Serie
*/
void serialEvent() {
  if (Serial.available() != 0) //si il y a des données sur le buffers Serie
  {
    received = Serial.readString(); //lire les données et les stocker

    if (received == "1")
    {
      avant();
    }
    else if (received == "2") {
      arriere();
    }
    else if (received == "3") {
      stop();
    }
    else if (received == "4") {
      droite();
    }
    else if (received == "5") {
      gauche();
    }
    else if (received == "etat") {
      Serial.println("stalarm=" + String(stAlarm));
      Serial.println("sttemp=" + String(stTemp));
      Serial.println("sltemp=" + String(slAlarmTemp));
    }
    else if (received == "sttemp=1") {
      stTemp = 1;
    }
    else if (received == "sttemp=0") {
      stTemp = 0;
    }
    else if (received == "stalarm=1") {
      stAlarm = 1;
    }
    else if (received == "stalarm=0") {
      stAlarm = 0;
    } else {
      decoupeur(received);
    }
  }
  Serial.println(received);
}