View difference between Paste ID: qbuVY3Dk and 3YFXHHJ9

 // =======================================================================================
-// /////////////////////////Padawan Body Code v1.9X //////////////////////////////////////
+// /////////////////////////Padawan Body Code ////////////////////////////////////////////
 // =======================================================================================
 //                                 danf
-//                        Revised  Date: 10/21/13 (unofficial revision by PaulM)
+//                        Revised  Date: 01/01/14 (unofficial revision by PaulM)
 //   Designed to be used with a second Arduino running the Padawan Dome code
 //              EasyTransfer and PS2X_lib libraries by Bill Porter
 //
 //   PaulM's tweaks need latest Sabertooth and MP3Trigger libraries from:
 //   - https://www.dimensionengineering.com/info/arduino
 //   - https://github.com/sansumbrella/MP3Trigger-for-Arduino
-//         For SyRen Packetized Serial Set Switches 1 and 2 Down, All Others Up
+
 //         Set Sabertooth 2x25 Dip Switches 1 and 2 Down, All Others Up
 //         For SyRen packetized Serial Set Switches 1 and 2 Down, All Others Up
 //         For SyRen Simple Serial Set Switchs 2 & 4 Down, All Others Up
 //         Placed a 10K ohm resistor between S1 & GND on the SyRen 10 itself
 //
 //         (if using Lithium batteries set switch 3 Down on SyRen & Sabertooth 2x25)
 //
 //     Arduino Pins:             BotBoarduino Pins:
 //     D01 = MP3 Trigger RX*     D01 = MP3 Trigger RX*
 //     D05 = Syren10 S1**        D06 = PS2 DAT
 //     D06 = Sabertooth S2***    D07 = PS2 COM
 //     D07 = Sabertooth S1       D08 = PS2 ATT
 //     D08 = Dome RXI            D09 = PS2 CLK
 //     D10 = PS2 ATT             D10 = Dome RXI
 //     D11 = PS2 COM             D11 = Syren10 S1**
 //     D12 = PS2 DAT             D12 = Sabertooth S2***
 //     D13 = PS2 CLK             D13 = Sabertooth S1
 //      A4 = LCD DAT              A4 = LCD DAT
 //      A5 = LCD CLK              A5 = LCD CLK
 //                               D05 = used by internal speaker
 //       *If using MP3 Trigger in mode 1, connect MP3 Trigger RX to D03 instead
 //      **If using SyRen in mode 3, connect Syren S1 to D01 instead
 //     ***S2 is not needed for Sabertooth's serial mode
 //
-byte drivespeed = 75; // 0-stop, 127-full speed.
+//   Extra sounds triggered by R2 + Square=54  Circle=55  X=56  Triangle=57
-// Recommend beginner: 50 to 75, experienced: 100 to 127, I like 100
+
 //         This program is free software: you can redistribute it and/or modify it .
-byte turnspeed = 45;   // the higher this number the faster it will spin in place, lower - easier to controll.
+//         This program is distributed in the hope that it will be useful,
-// Recommend beginner: 40 to 50, experienced: 50 $ up, I like 75
+//         but WITHOUT ANY WARRANTY; without even the implied warranty of
 //         MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
-byte ramping = 5;      // Ramping- the lower this number the longer R2 will take to speedup or slow down,
+
-// change this by incriments of 1
+
 
-#define MP3TRIGGERMODE 1   // 0 for regular mode (MP3 Tirgger RX connects to Pin 1)
+#define drivespeed1  75 //set these 3 to whatever speeds work for you. 0=stop, 127=full speed.
-                           // 1 for Software Serial mode (MP3 Trigger connects to Pin 3)
+#define drivespeed2 100 //Recommend beginner: 50 to 75, experienced: 100 to 127, I like 100.
 #define drivespeed3 127 //Set to 0 if you only want 2 speeds.
 
-// Do not use Simple Serial mode in close contact with people.
+#define turnspeed 50    // the higher this number the faster it will spin in place, lower - easier to controll.
-// NOTE : you can't use MP3TRIGGERMODE 0 with SYRENMODE 3, since they both use Arduino Pin 1
+                        // Recommend beginner: 40 to 50, experienced: 50 $ up, I like 75
 
-int domeBaudeRate = 9600; // Set the Serial baude rate for the Syren motor controller
+#define domespeed 110   // If using a speed controller for the dome, sets the top speed
-// for packetized options are: 2400, 9600 (default), 19200 or 38400
+                        // Use a number up to 127 for serial
-// for simple use 9600 .
+
 #define ramping 5       // Ramping- the lower this number the longer R2 will take to speedup or slow down,
-byte domecompensation = 2;  // For controllers that centering problems, causing slight dome drift in one direction
+                        // change this by incriments of 1
-// use the lowest number with no drift
+
 #define MP3TRIGMODE 1   // 0 for regular mode (MP3 Tirgger RX connects to Pin 1)
-byte domespeed = 110;  // If using a speed controller for the dome, sets the top speed
+                        // 1 for Software Serial mode (MP3 Trigger connects to Pin 3)
-                       // Use a number up to 127
+
 #define SYRENMODE 3     // 1=Simple Serial , 2=Packetized Software Serial (recommended), 3=Packetized Hardware Serial (S1 connects to Pin 1)
-#define VOLJUMP 2     // Speed at which volume is adjusted (1=slowest 5=fastest)
+                        // Do not use Simple Serial mode in close contact with people.
                         // NOTE : you can't use MP3TRIGMODE 0 with SYRENMODE 3, since they both use Arduino Pin 1
 
-#define LCD 0         // Connect to LCD via i2c (pins A4 & A5), default address #0 (A0-A2 not jumpered)
+#define domecompensation 0  // For controllers that centering problems, causing slight dome drift in one direction
-// Backlight can be toggled on/off using R1 + Pad Left
+
-// (comment out if no LCD is connected)
+#define drivecompensation 0  // use the lowest number with no drift
                              // (this sets the Sabertooth's Deadband and will persist between restarts)
-#define AUTOMIN 5     // Minimum seconds between sounds in auto mode
+                             // Motor powers in the range [-deadband, deadband] will be considered in the deadband,
-#define AUTOMAX 20    // Maximum seconds between sounds in auto mode
+                             // and will not prevent the driver from entering nor cause the driver to leave an idle brake state.
                              // 0 resets to the default, which is 3. valid setting is 0 to 127.
-#define BOARDTYPE 1   // 0 for regular Arduino, 1 for BotBoarduino (uses different PS2, ST & dome pins)
+
 #define domeBaudeRate 9600   // Set the baude rate for the Syren motor controller
                              // for packetized options are: 2400, 9600, 19200 and 38400
                              // for simple use 9600
 
-Sabertooth SyR(128);
+#define VOLJUMP 2      // Speed at which volume is adjusted (1=slowest 5=fast)
 #define VOLLIMIT 100   // Quietest volume can be set to (0-255, higher=quieter, over 64 is pretty quiet)
 
 #define LCD 0          // Connect to LCD via i2c (pins A4 & A5), default address #0 (A0-A2 not jumpered)
                        // Backlight can be toggled on/off using R1 + Pad Left
                        // (comment out if no LCD is connected)
 
 //Dome Automation Settings...
 #define AUTOMIN 5       // Minimum seconds between sounds in auto mode
 #define AUTOMAX 20      // Maximum seconds between sounds in auto mode
 //auto dome speeds, were -49 and 45, should be equal if using domegears
-#include <Wire.h>
+#define DOMESPEEDL -30  // Speed that the dome will automatically spin left (negative)
-#include <LiquidTWI.h> //this is the speedy i2C LCD library - get it here: http://forums.adafruit.com/viewtopic.php?f=19&t=21586
+#define DOMESPEEDR 30   // Speed that the dome will automatically spin right (negative)
-LiquidTWI lcd(LCD);
+
 #define ATTEMPTS 25   // How many times to try and connect to the PS2 controller
 
-//////////////////////////////////////////////////////////////////
+#define BOARDTYPE 1   // 0 for regular Arduino, 1 for BotBoarduino (uses different PS2, ST & dome pins)
 
-#if (MP3TRIGGERMODE==1)
+byte drivespeed = drivespeed1;
-SoftwareSerial trigSerial = SoftwareSerial(2, 3);
+
 ///////include libs and declare variables////////////////////////////
 #include <Sabertooth.h>
 /*#if (SYRENMODE==3)
  Sabertooth SyR(128);
 #endif*/
 #include <SoftwareSerial.h>
 #if (SYRENMODE==1)
  #include <SyRenSimplified.h>
 #endif
 #include <SyRenSimplified.h>
 #include <PS2X_lib.h>  //for v1.7
 #include <Servo.h>
 #include <MP3Trigger.h>
 #include <SoftEasyTransfer.h>
 #if defined(LCD)
  #include <Wire.h>
  #include <LiquidTWI.h> //this is the speedy i2C LCD library - get it here: http://forums.adafruit.com/viewtopic.php?f=19&t=21586
  LiquidTWI lcd(LCD);
 #endif
 
 #if (MP3TRIGMODE==1)
   SoftwareSerial trigSerial = SoftwareSerial(2, 3);
 #endif
 MP3Trigger trigger;
-#include <Servo.h>
+
   Sabertooth SyR(128);
 #endif
 #if (BOARDTYPE==0)
   #if (SYRENMODE<3)
   SoftwareSerial SyRSerial(2, 5);
   #endif
   SoftwareSerial domeSerial(2, 8);
   SoftwareSerial STSerial(2, 7);
 #else
-  int dsp; // 0 = random, 1 = alarm, 5 = leia, 11 = alarm2, 100 = no change
+
-};
+
   #endif
   SoftwareSerial domeSerial(2, 10);
   SoftwareSerial STSerial(2, 13);
 #endif
 
-byte type = 0; // part of the ps2x lib
+
-byte vibrate = 0; // part of the ps2x lib
+
-byte vol = 40; // 0 = full volume, 64+ = inaudible, 255 = off
+
 #elif (SYRENMODE==2)
 Sabertooth SyR(128, SyRSerial);
 #endif
-byte automateDelay = random(5,20);// set this to min and max seconds between sounds
+
-int turnDirection = 20;
+
 struct SEND_DATA_STRUCTURE{
   //put your variable definitions here for the data you want to send
   //THIS MUST BE EXACTLY THE SAME ON THE OTHER ARDUINO
   int hpx; // hp movement
   int hpy; // hp movement
-int domenumset = 0; //used for ramping in servo mode
+
-int domeramping=(ramping*4);
+
   int dsp; // 100=no change, 0=random, 1=alarm, 4=whistle, 5=leia, 6=short circut, 10=EQ, 11=alarm2,
 };         // 21=speed1, 22=speed2, 23=speed3, 24=logics+, 25=logics-
 
 SEND_DATA_STRUCTURE domeData;//give a name to the group of data
 
 PS2X ps2x; // create PS2 Controller Class
 int error = 0; // part of the ps2x lib
 //byte type = 0; // part of the ps2x lib
 //byte vibrate = 0; // part of the ps2x lib
 byte vol = 50; // 0 = full volume, 255 off
-  lcd.begin(16, 2);// sets up the LCD's number of rows and columns
+
-  lcd.clear();
+
 unsigned long automateMillis = 0;
-  delay(200);
+byte automateDelay = random(AUTOMIN,AUTOMAX);// set this to min and max seconds between sounds
-  lcd.setBacklight(HIGH);
+int turnDirection = 0;
-  delay(200);
+
-  lcd.print("Starting up."); // Print a message to the LCD.
+
 int drivenum = 0;
-  delay(100);
+
-  lcd.setBacklight(HIGH);
+
 int turnnum = 0;
-#if(SYRENMODE<3)
+
 byte lcdlight = 0; //used to toggle the LCD backlight on and off
-#endif
+
 
-  SyR.motor(0);
+
-#elif(SYRENMODE==2)
+
-  SyR.autobaud();
+
-#elif(SYRENMODE==3)
+  #if defined(LCD)
-  SabertoothTXPinSerial.begin(domeBaudeRate);
+	  lcd.begin(16, 2);// sets up the LCD's number of rows and columns
-  SyR.autobaud();
+	  lcd.clear();
-#endif
+	  lcd.setBacklight(HIGH);
 	  delay(50);
 	  lcd.print("Starting"); // Print a message to the LCD.
-  // NOTE: *Not all* Sabertooth controllers need this command.
+          lcd.setCursor(12,0); lcd.print(String(memoryFree()));
-  //       It doesn't hurt anything, but V2 controllers use an
+          delay(500);
-  //       EEPROM setting (changeable with the function setBaudRate) to set
+
-  //       the baud rate instead of detecting with autobaud.
+
-  //
+  #if(SYRENMODE<3)
-  //       If you have a 2x12, 2x25 V2, 2x60 or SyRen 50, you can remove
+
-  //       the autobaud line and save yourself two seconds of startup delay.
+  #endif
   #if(SYRENMODE==1)
    SyR.motor(0);
   #elif(SYRENMODE==2)
-  // mixes the two together to get diff-drive power levels for both motors.
+   SyR.autobaud();
-  #if (MP3TRIGGERMODE==1)
+  #elif(SYRENMODE==3)
-  trigger.setup(&trigSerial);
+   SabertoothTXPinSerial.begin(domeBaudeRate);
-  trigSerial.begin( MP3Trigger::serialRate() );
+   SyR.autobaud();
   #endif
-  trigger.setup(&Serial);
+
   ST.autobaud();          // Send the autobaud command to the Sabertooth controller(s).
                           // NOTE: *Not all* Sabertooth controllers need this command.
            //       It doesn't hurt anything, but V2 controllers use an
-  error = ps2x.config_gamepad(13,11,10,12, true, false);   //setup pins and settings:  GamePad(clock, command, attention, data, Pressures?, Rumble?) check for error
+                          //       EEPROM setting (changeable with the function setBaudRate) to set
                           //       the baud rate instead of detecting with autobaud.
-  error = ps2x.config_gamepad(9,7,8,6, true, false);   //setup pins and settings:  GamePad(clock, command, attention, data, Pressures?, Rumble?) check for error
+                          //
                           //       If you have a 2x12, 2x25 V2, 2x60 or SyRen 50, you can remove
                           //       the autobaud line and save yourself two seconds of startup delay.
-  trigger.setVolume(vol);//anything with trigger. is for the mp3trigger
+  ST.setTimeout(950);
-  type = ps2x.readType();
+  #if !defined(SYRENSIMPLE)
-  domeSerial.begin(57600);//start the library, pass in the data details and the name of the serial port.
+  SyR.setTimeout(950);
-  ET.begin(details(domeData), &domeSerial);
+
   ST.setDeadband(drivecompensation);
   ST.drive(0); // The Sabertooth won't act on mixed mode packet serial commands until
   ST.turn(0);  // it has received power levels for BOTH throttle and turning, since it
-  lcd.print("PADAWAN"); // Print a message to the LCD.
+               // mixes the two together to get diff-drive power levels for both motors.
-  delay(250);
+  #if (MP3TRIGMODE==1)
    trigger.setup(&trigSerial);
    trigSerial.begin( MP3Trigger::serialRate() );
   #else
    trigger.setup(&Serial);
   #endif
 
 
   byte attempts=0;
    #if defined(LCD)
-  lcd.print("Sound "+String(soundNumber)+" ");
+   lcd.clear();
    lcd.print("PS2...");
    lcd.setCursor(12,0); lcd.print(String(memoryFree()));
    delay(500);
-////////////////////////////////////////////////////////////////////////////////////////////
+   #endif
    trigger.setVolume(80); //set volume low for now
-///////Loop run over and over//////////////////////////////////////
+
-//////////////////////////////////////////////////////////////////
+  while(attempts<ATTEMPTS) { //loop around until a PS2 controller is found or we've attempted too many times
    //lcd.setCursor(12,0); lcd.print(String(memoryFree()));
    #if (BOARDTYPE==0)
     error = ps2x.config_gamepad(13,11,10,12, false, false);   //setup pins and settings:  GamePad(clock, command, attention, data, Pressures?, Rumble?) check for error
-  if(error == 1) //skip loop if no controller found
+   #else
-    return;
+    error = ps2x.config_gamepad(9,7,8,6, false, false);   //setup pins and settings:  GamePad(clock, command, attention, data, Pressures?, Rumble?) check for error
    #endif
    lcd.setCursor(12,0); lcd.print(String(memoryFree())); delay(500);
    if((error==0)||(error==3)) attempts=ATTEMPTS; //PS2 controller was found, or found with pressure disabled so we'll get out of this WHILE loop
-    //// enable / disable right stick & play sound
+   #if defined(LCD)
-  if(ps2x.ButtonPressed(PSB_START))
+   lcd.setCursor(12,1); lcd.print(String(attempts)+" ");
    lcd.setCursor(0, 1);
-    if (drive<1)
+   if(error == 0){
        lcd.print("found  "); //found a PS2 controller
        playSound(52);
-      lcd.setCursor(0, 1);
+   }
-      lcd.print("-Drive  Enabled-");
+   else if(error == 1) {
       lcd.print("unfound"); //not found!
-      drive = 1;
+      //playSound(53);
 
-    }
+   }
-    else {
+   else if(error == 2) {
       lcd.print("no cmds"); //found but not accepting commands
-      lcd.setCursor(0, 1);
+      //playSound(53);
-      lcd.print("-Drive Disabled-");
+   }
    else if(error == 3) {
-      drive = 0;
+      lcd.print("no pres"); //found but pressure not enabled
-      playSound(53);
+
-    }
+   }
    #endif
    delay(100);
-  ////turn hp automation or automate on & off
+   attempts++;
-  if(ps2x.ButtonPressed(PSB_SELECT)) {
+
 
-    if(ps2x.Button(PSB_R2)) {
+ trigger.setVolume(vol);//set volume back to default value
-      if(domeData.hpa == 1) {
+ //type = ps2x.readType();
  domeSerial.begin(57600);//start the library, pass in the data details and the name of the serial port.
  ET.begin(details(domeData), &domeSerial);
-        lcd.print(" -Auto HP OFF-  ");
+
-#endif
+
-        domeData.hpa = 0;
+
-        domeData.dsp = 100;
+ #if defined(LCD)
-        ET.sendData();
+
   //lcd.print("PADAWAN"); // Print a message to the LCD.
-      else {//if hp automation is off, turn it on
+  //delay(100);
   lcd.setBacklight(LOW);
  #endif
-        lcd.print("  -Auto HP ON-  ");
+
  playSound(52); //play a sound to test things
-        domeData.hpa = 1;
+
-        domeData.dsp = 100;
+ }
-        ET.sendData();
+
-      }//turn hp automation off
+// variables created by the build process when compiling the sketch (used for the memoryFree function)
-    }
+extern int __bss_end;
 extern void *__brkval;
-    /////////////automate
+// function to return the amount of free RAM
-    else {
+int memoryFree() {
-      if (automate<1) {
+  int freeValue;
   if((int)__brkval == 0) freeValue = ((int)&freeValue) - ((int)&__bss_end);
   else freeValue = ((int)&freeValue) - ((int)__brkval);
   return freeValue;
 }
 
 ///////function to play sound (also outputs to LCD if connected)////////////////
 void playSound(int soundNumber) {
 #if defined(LCD)
   lcd.setCursor(0, 0);
   lcd.print("Snd"+String(soundNumber)+" ");
 #endif
   trigger.play(soundNumber);
-        automate = 0;
+
-        action = 0;
+////////////////////////////////////////////////////////////////////////////////////////////
-        playSound(53);
+
  ///////Loop run over and over//////////////////////////////////////
-    }
+ //////////////////////////////////////////////////////////////////
 
 void loop(){
-  if (automate == 1)
+
-  {
+ if(error == 1) //skip loop if no controller found
-    if (ps2x.Analog(PSS_LX)!=128)
+
   return;
-      automateMillis = millis();
+
-    }
+  if(ps2x.Analog(PSS_RX) ==255 && ps2x.Analog(PSS_RY) ==255 && ps2x.Analog(PSS_LX)==255 &&ps2x.Analog(PSS_LY)==255)
-    unsigned long currentMillis = millis();
+ {
-    if (currentMillis - automateMillis > (automateDelay*1000))
+  ST.drive(0);
   ST.turn(0);
-      automateMillis = millis();
+  SyR.motor(1,0);
-      action = random(1,5);
+  return;
-      if (action>1)
+ }
-      {
+
-        (playSound(random(32,52)));
+
  //// enable / disable right stick & play sound
-      if (action<4)
+ if(ps2x.ButtonPressed(PSB_START))
-      {
+{if (drive<1)
     {
   #if defined(LCD)
     lcd.setCursor(0, 1);
     lcd.print("-Drive  Enabled-");
   #endif
   drive = 1; playSound(52);}
  else {
   #if defined(LCD)
     lcd.setCursor(0, 1);
     lcd.print("-Drive Disabled-");
   #endif
-        if (turnDirection>0)
+ drive = 0; playSound(53);}
-        {
+
-          turnDirection = -49;
+
-        }
+ ////turn hp automation or automate on & off
-        else
+ if(ps2x.ButtonPressed(PSB_SELECT))
-        {
+  {if(ps2x.Button(PSB_R2))
-          turnDirection = 45;
+   {if(domeData.hpa == 1)
-        }
+
 #if defined(LCD)
-      automateDelay = random(AUTOMIN,AUTOMAX);// set this to min and max seconds between sounds
+    lcd.setCursor(0, 1);
-    }
+    lcd.print(" -Auto HP OFF-  ");
 #endif
-  ////volume control
+	domeData.hpa = 0; domeData.dsp = 100; ET.sendData();}//if hp automation is off, turn it on
-  if(ps2x.Button(PSB_PAD_UP))
+
     {
 
 #if defined(LCD)
-      if (vol>0)
+    lcd.setCursor(0, 1);
-      {
+    lcd.print("  -Auto HP ON-  ");
-        vol=vol-VOLJUMP;
+
-        if(vol<0) vol=0;
+	domeData.hpa = 1; domeData.dsp = 100; ET.sendData();}//turn hp automation off
   }
-        lcd.setCursor(9, 0);
+
-        lcd.print("Vol "+String(vol)+"  ");
+else
 {      if (automate<1) {
-        trigger.setVolume(vol);
+
-      }// volume up
+
         lcd.print(" -Automate  ON-  ");
 #endif
         automate = 1;
         playSound(52);
       }
       else {
-      if (vol<VOLLIMIT)
+
-      {
+
-        vol=vol+VOLJUMP;
+
-        if(vol>VOLLIMIT) vol=VOLLIMIT;
+
 automate = 0; action = 0; playSound(53);}
-        lcd.setCursor(9, 0);
+}}
-        lcd.print("Vol "+String(vol)+"  ");
+
 /////////////automate
-        trigger.setVolume(vol);
+if (automate == 1)
-      }//volume down
+{ if (ps2x.Analog(PSS_LX)!=128)
-    }
+  { automateMillis = millis();}
   unsigned long currentMillis = millis();
    if (currentMillis - automateMillis > (automateDelay*1000))
-  ////LCD backlight toggle on/off
+ {
   automateMillis = millis();
   action = random(1,5);
   if (action>1)
   {
    (playSound(random(32,52)));
   }
   if (action<4)
   {
 #if (SYRENMODE==1)
         SyR.motor(turnDirection);
 #elif(SYRENMODE>=2)
         SyR.motor(1,turnDirection);
 #endif
         delay(750);
 #if(SYRENMODE==1)
         SyR.motor(0);
 #elif(SYRENMODE>=2)
         SyR.motor(1,0);
 #endif
    if (turnDirection>0)
       {turnDirection = DOMESPEEDL;}
-  /////hp movement
+   else
-  if(ps2x.ButtonPressed(PSB_PAD_UP))
+      {turnDirection = DOMESPEEDR;}
   }
-    if (!(ps2x.Button(PSB_R1)))
+  automateDelay = random(AUTOMIN,AUTOMAX);// set this to min and max seconds between sounds
 }}
-      domeData.hpy = 30;
+////volume controll
-      domeData.dsp = 100;
+ if(ps2x.Button(PSB_PAD_UP))
-      ET.sendData();
+ {
-    }
+  if(ps2x.Button(PSB_R1))
    { if (vol>0)
-  if(ps2x.ButtonPressed(PSB_PAD_DOWN))
+   {
    vol=vol-VOLJUMP;
-    if (!(ps2x.Button(PSB_R1)))
+   if(vol<0) vol=0;
 	#if defined(LCD)
-      domeData.hpy = 150;
+		lcd.setCursor(9, 0);
-      domeData.dsp = 100;
+		lcd.print("Vol "+String(vol)+"  ");
-      ET.sendData();
+	#endif
-    }
+   trigger.setVolume(vol);}// volume up
    }
-  if(ps2x.ButtonReleased(PSB_PAD_UP)||ps2x.ButtonReleased(PSB_PAD_DOWN))
+ }
   if(ps2x.Button(PSB_PAD_DOWN))
-    domeData.hpy = 0;
+
-    domeData.dsp = 100;
+  if(ps2x.Button(PSB_R1))
-    ET.sendData();
+   { if (vol<VOLLIMIT)
    {
    vol=vol+VOLJUMP;
-  if(ps2x.ButtonPressed(PSB_PAD_RIGHT))
+   if(vol>VOLLIMIT) vol=VOLLIMIT;
    #if defined(LCD)
-    domeData.hpx = 150;
+     lcd.setCursor(9, 0);
-    domeData.dsp = 100;
+     lcd.print("Vol "+String(vol)+"  ");
-    ET.sendData();
+   #endif
    trigger.setVolume(vol);}//volume down
-  if(ps2x.ButtonPressed(PSB_PAD_LEFT))
+   }
  }
-    domeData.hpx = 30;
+
-    domeData.dsp = 100;
+////LCD backlight toggle on/off
-    ET.sendData();
+
   if(ps2x.Button(PSB_PAD_LEFT))
-  if(ps2x.ButtonReleased(PSB_PAD_RIGHT)||ps2x.ButtonReleased(PSB_PAD_LEFT))
+
     if(ps2x.Button(PSB_R1))
-    domeData.hpx = 0;
+
-    domeData.dsp = 100;
+
-    ET.sendData();
+
         lcd.setBacklight(HIGH);
         lcdlight=1;
       }
-  /////play sounds and change display
+
       { //turn off backlight
         lcd.setBacklight(LOW);
-    if(ps2x.Button(PSB_L1))
+
       }
-      (playSound(8));
+
-      domeData.dsp = 0;
+
-      ET.sendData();
+
-    }
+
  ////Logic display brightness
  if(ps2x.ButtonPressed(PSB_PAD_UP))
-      (playSound(2));
+ {
-      domeData.dsp = 0;
+  if(ps2x.Button(PSB_L1))
-      ET.sendData();
+   {
-    }
+     domeData.dsp = 24; ET.sendData();
    }
  }
-      (playSound(9));
+  if(ps2x.ButtonPressed(PSB_PAD_DOWN))
-      domeData.dsp = 0;
+
-      ET.sendData();
+  if(ps2x.Button(PSB_L1))
-    }
+   {
-    else
+     domeData.dsp = 25; ET.sendData();
    }
-      (playSound(random(13,17)));
+ }
-      domeData.dsp = 0;
+
-      ET.sendData();
+
-    }
+ /////hp movement
 if(ps2x.ButtonPressed(PSB_PAD_UP))
 {if (!((ps2x.Button(PSB_R1))||(ps2x.Button(PSB_L1))))
  {
-    if(ps2x.Button(PSB_L1))
+   domeData.hpy = 30; domeData.dsp = 100; ET.sendData();
  }}
-      (playSound(6));
+ if(ps2x.ButtonPressed(PSB_PAD_DOWN))
-      domeData.dsp = 0;
+{if (!((ps2x.Button(PSB_R1))||(ps2x.Button(PSB_L1))))
-      ET.sendData();
+ {
-    }
+   domeData.hpy = 150; domeData.dsp = 100; ET.sendData();
  }}
  if(ps2x.ButtonReleased(PSB_PAD_UP)||ps2x.ButtonReleased(PSB_PAD_DOWN))
-      (playSound(1));
+ {domeData.hpy = 0; domeData.dsp = 100; ET.sendData();}
-      domeData.dsp = 1;
+
-      ET.sendData();
+ if(ps2x.ButtonPressed(PSB_PAD_RIGHT))
-      domeData.dsp = 0;
+ {
-    }
+   domeData.hpx = 150; domeData.dsp = 100; ET.sendData();
  }
  if(ps2x.ButtonPressed(PSB_PAD_LEFT))
-      (playSound(11));
+ {
-      domeData.dsp = 11;
+   domeData.hpx = 30; domeData.dsp = 100; ET.sendData();
-      ET.sendData();
+ }
-      domeData.dsp = 0;
+ if(ps2x.ButtonReleased(PSB_PAD_RIGHT)||ps2x.ButtonReleased(PSB_PAD_LEFT))
-    }
+ {domeData.hpx = 0; domeData.dsp = 100; ET.sendData();}
-    else
+
 
-      (playSound(random(17,25)));
+ /////play sounds and change display
-      domeData.dsp = 0;
+
-      ET.sendData();
+   {if(ps2x.Button(PSB_L1))
-    }
+      {(playSound(8)); domeData.dsp = 0; ET.sendData();}
     else if(ps2x.Button(PSB_L2))
       {(playSound(2)); domeData.dsp = 0; ET.sendData();}
     else if(ps2x.Button(PSB_R1))
-    if(ps2x.Button(PSB_L1))
+      {(playSound(9)); domeData.dsp = 0; ET.sendData();}
     else if(ps2x.Button(PSB_R2))
-      (playSound(7));
+      { // PLAY EXTRA/CUSTOM SOUND FILE
-      domeData.dsp = 0;
+        (playSound(57)); domeData.dsp = 0; ET.sendData();}
-      ET.sendData();
+     else
-    }
+      {(playSound(random(13,17))); domeData.dsp = 0; ET.sendData();}}
   if(ps2x.ButtonPressed(PSB_BLUE))//x bottom
    {if(ps2x.Button(PSB_L1))
-      (playSound(3));
+      {(playSound(6)); domeData.dsp = 6; ET.sendData();}
-      domeData.dsp = 0;
+
-      ET.sendData();
+      {(playSound(1)); domeData.dsp = 1; ET.sendData(); domeData.dsp = 0;}
-    }
+
       {(playSound(11)); domeData.dsp = 11; ET.sendData(); domeData.dsp = 0;}
     else if(ps2x.Button(PSB_R2))
-      (playSound(10));
+      { // PLAY EXTRA/CUSTOM SOUND FILE
-      domeData.dsp = 0;
+        (playSound(random(56,65))); domeData.dsp = 0; ET.sendData();}    // random lemur sound (total of 9)
-      ET.sendData();
+     else
-    }
+      {(playSound(random(17,25))); domeData.dsp = 0; ET.sendData();}}
-    else
+
    {if(ps2x.Button(PSB_L1))
-      (playSound(random(32,52)));
+      {(playSound(7)); domeData.dsp = 0; ET.sendData();}
-      domeData.dsp = 0;
+
-      ET.sendData();
+      {(playSound(3)); domeData.dsp = 0; ET.sendData();}
-    }
+
       {(playSound(10)); domeData.dsp = 10; ET.sendData();}
     else if(ps2x.Button(PSB_R2))
       { // PLAY EXTRA/CUSTOM SOUND FILE
-    if(ps2x.Button(PSB_L1))
+        (playSound(55)); domeData.dsp = 0; ET.sendData();}
      else
-      (playSound(5));
+      {(playSound(random(32,52))); domeData.dsp = 0; ET.sendData();}}
-      domeData.dsp = 5;
+
-      ET.sendData();
+   {if(ps2x.Button(PSB_L1))
-      domeData.dsp = 0;
+      {(playSound(5)); domeData.dsp = 5; ET.sendData(); domeData.dsp = 0;}
-    }
+
       {(playSound(4)); domeData.dsp = 4; ET.sendData();}
     else if(ps2x.Button(PSB_R1))
-      (playSound(4));
+      {(playSound(12)); domeData.dsp = 0; ET.sendData();}
-      domeData.dsp = 0;
+    else if(ps2x.Button(PSB_R2))
-      ET.sendData();
+      { // PLAY EXTRA/CUSTOM SOUND FILE
-    }
+        (playSound(54)); domeData.dsp = 0; ET.sendData();}
      else
       {(playSound(random(25,32))); domeData.dsp = 0; ET.sendData();}}
-      (playSound(12));
+
-      domeData.dsp = 0;
+ ////turn hp light on & off
-      ET.sendData();
+
-    }
+
-    else
+
     {domeData.hpl = 0; domeData.dsp = 100; ET.sendData();}//if hp light is on, turn it off
-      (playSound(random(25,32)));
+
-      domeData.dsp = 0;
+    {domeData.hpl = 1; domeData.dsp = 100; ET.sendData();}//turn hp light on
-      ET.sendData();
+
-    }
+
  ////Change drivespeed
 if(ps2x.ButtonPressed(PSB_R3)) //right joystick
-  ////turn hp light on & off
+{
 if(drivespeed == drivespeed1)//if in lowest speed
 {
 #if defined(LCD)
     lcd.setCursor(0, 1); lcd.print("- Medium Speed -");
-      domeData.hpl = 0;
+
-      domeData.dsp = 100;
+drivespeed = drivespeed2; playSound(53);domeData.dsp = 22; ET.sendData(); domeData.dsp = 0;}//change to medium speed and play sound 3-tone
-      ET.sendData();
+else if(drivespeed == drivespeed2 && (drivespeed3!=0))//if in medium speed
-    }//if hp light is on, turn it off
+{
 #if defined(LCD)
     lcd.setCursor(0, 1); lcd.print("- *HIGH SPEED* -");
-      domeData.hpl = 1;
+
-      domeData.dsp = 100;
+drivespeed = drivespeed3; playSound(1);domeData.dsp = 23; ET.sendData(); domeData.dsp = 0;}//change to high speed and play sound scream
-      ET.sendData();
+else////////////////////////////////////////we must be in high speed
-    }//turn hp light on
+{
 #if defined(LCD)
     lcd.setCursor(0, 1); lcd.print("-  Slow Speed  -");
-  /////foot drives
+
-  /////////////////new stuff//////////////////
+drivespeed = drivespeed1; playSound(52);domeData.dsp = 21; ET.sendData(); domeData.dsp = 0;}//change to low speed and play sound 2-tone
-  sticknum = (map(ps2x.Analog(PSS_RY), 0, 255, -drivespeed, drivespeed));
+}
 
-  if (drivenum < sticknum)
+ /////foot drives
 /////////////////new stuff//////////////////
-    if (sticknum-drivenum<(ramping+1))
+sticknum = (map(ps2x.Analog(PSS_RY), 0, 255, -drivespeed, drivespeed));
-      drivenum+=ramping;
+
    if (drivenum < sticknum)
-      drivenum = sticknum;
+   {
      if (sticknum-drivenum<(ramping+1))
      drivenum+=ramping;
      else
-  else if (drivenum > sticknum)
+     drivenum = sticknum;
 
-    if (drivenum-sticknum<(ramping+1))
+   }
-      drivenum-=ramping;
+
    else if (drivenum > sticknum)
-      drivenum = sticknum;
+   {
      if (drivenum-sticknum<(ramping+1))
      drivenum-=ramping;
      else
      drivenum = sticknum;
-  turnnum = (ps2x.Analog(PSS_RX));
+
-  if (turnnum <= 200 && turnnum >= 54)
+   }
-    turnnum = (map(ps2x.Analog(PSS_RX), 54, 200, -(turnspeed/3), (turnspeed/3)));
+
-  else if (turnnum > 200)
+
-    turnnum = (map(ps2x.Analog(PSS_RX), 201, 255, turnspeed/3, turnspeed));
+ turnnum = (ps2x.Analog(PSS_RX));
-  else if (turnnum < 54)
+ if (turnnum <= 200 && turnnum >= 54)
-    turnnum = (map(ps2x.Analog(PSS_RX), 0, 53, -turnspeed, -(turnspeed/3)));
+  turnnum = (map(ps2x.Analog(PSS_RX), 54, 200, -(turnspeed/3), (turnspeed/3)));
  else if (turnnum > 200)
-  //////////////////////////////////
+  turnnum = (map(ps2x.Analog(PSS_RX), 201, 255, turnspeed/3, turnspeed));
  else if (turnnum < 54)
-  {
+  turnnum = (map(ps2x.Analog(PSS_RX), 0, 53, -turnspeed, -(turnspeed/3)));
 
-    /*lcd.setCursor(6, 1);
+//////////////////////////////////
-     lcd.print("Tu"+String(turnnum)+" Dr"+String(drivenum)+"   ");*/
+
 {
-    ST.turn(turnnum);
+  ST.turn(turnnum);
-    ST.drive(drivenum);
+  ST.drive(drivenum);
 }
 
-  /////dome drive
+/////dome drive
-  domenum = (map(ps2x.Analog(PSS_LX), 0, 255, -domespeed, domespeed));
+domenum = (map(ps2x.Analog(PSS_LX), 0, 255, -domespeed, domespeed));
-  if (domenum > domecompensation && domenum < domecompensation) domenum = 0;
+if (domenum > -domecompensation && domenum < domecompensation)
   domenum = 0;
 #if defined(LCD)
   lcd.setCursor(0, 1);
   lcd.print("Sy"+String(domenum)+"   ");
 #endif
 #if(SYRENMODE==1)
   SyR.motor(domenum);
 #elif(SYRENMODE>=2)
   SyR.motor(1,domenum);
 #endif
 
-  ////////////
+////////////
-  delay(50);
+ delay(50);
 }
 /////////////////////////////////////////////////////////////////
 //////////////////////////////////////////////////////////////////