#include <Wire.h>

//#include <LiquidCrystal.h>

#include <Stepper.h>

#include <Servo.h>

#include <LiquidCrystal_I2C.h>

//LiquidCrystal lcd(1, 2, 4, 5, 6, 7); // Use these pins for the 1602 lcd

LiquidCrystal_I2C lcd(0x27,20,4);

const int SW_pin = 8; // digital pin connected to switch output

const int X_pin = A0; // analog pin connected to X output

const int Y_pin = A1; // analog pin connected to Y output

int MenuNr = 0; // Menu number

int PhotoNr = 2; // The amount of photos that have to be taken

bool Flag1 = 0; // This flag is only active during 1 program cycle (prevents constantly adding/subtracting 1 to the menu number when the joystick is pushed to the side)

bool Flag2 = 0; // This flag is only active during 1 program cycle (prevents constantly adding/subtracting 2 to the photo number when the joystick is pushed up or down)

bool Flag3 = 0; // This flag is only active during 1 program cycle (prevents constantly adding/subtracting 1 to the RPM when the joystick is pushed up or down)

bool Flag4 = 0; // This flag is only active during 1 program cycle (prevents constantly adding/subtracting 1 to the turn number when the joystick is pushed to the side)

bool Flag5 = 0; // This flag is only active during 1 program cycle (prevents constantly adding/subtracting 1 to the RPM when the joystick is pushed up or down)

bool Flag6 = 0; // This flag is only active during 1 program cycle to clear the lcd

int SwMenu = 0; // Switch menu (Sub menu's in the main menu's)

bool BtnFlag = 0; // This flag is only active during 1 program cycle (prevents constantly adding of 1 to SwMenu when button is pressed)

const int stepsPerRevolution = 2048; // change this to fit the number of steps per revolution

int FullRev = 14336; // 1 full revolution of the big gear -> Small-Big gear ratio is 7:1

int rolePerMinute = 15; // Adjustable range of 28BYJ-48 stepper is 0~17 rpm

int PhotoTaken = 0; // Amount of photo's that have been taken

int StepPerPhoto; // Amount of steps per photo (calculated -> see MenuNr 0/SwMenu 2)

int TurnNr = 1; // Amount of turns

int CurrentTurn = 0; // Stores current turn number

int Steps = 0; // Amount of individual steps the stepper motor has to turn

Stepper myStepper(stepsPerRevolution, 9, 11, 10, 12); // Use these pins for the stepper motor

Servo Servo1; // Define Servo1 as a servo

void setup() {

lcd.begin(16, 2); //Lcd setup

pinMode(SW_pin, INPUT); //Set pushbutton as input

digitalWrite(SW_pin, HIGH); //Set SW_pin High

myStepper.setSpeed(rolePerMinute); //Set RPM of steppermotor

Servo1.attach(3); //Attach servo to pin 3

Servo1.write(90); //Move servo to mid possition

lcd.init(); // initialize the lcd

lcd.init();

lcd.backlight();

lcd.setCursor(4, 0); //Startup screen start

lcd.print("Welcome!"); // """"" //

lcd.setCursor(1, 1); // """"" //

lcd.print("Software: V1.6"); // """"" //

delay(3000); // """"" //

lcd.clear(); // """"" //

lcd.setCursor(0, 0); // """"" //

lcd.print("Designed by"); // """"" //

lcd.setCursor(0, 1); // """"" //

lcd.print("Brian Brocken"); // """"" //

delay(2000); // """"" //

lcd.clear(); //Startup screen end

}

void loop() {

int XValue = analogRead(X_pin); // Read the analog value from The X-axis from the joystick

int YValue = analogRead(Y_pin); // Read the analog value from The Y-axis from the joystick

int SwValue = digitalRead(SW_pin); // Read the digital value from The Button from the joystick

if (MenuNr < 0){ //This sets the min number of menu's

MenuNr = 0;

}

else if ( MenuNr > 2){ //This sets the max numbers of menu's

MenuNr = 2;

}

if (XValue < 400 && Flag1 == 0 && SwMenu == 0){ //if the joystick is pushed to the right side and flag1 is 0 then 1 will be added to the menu number (purpose of the flag -> see comment Flags above)

MenuNr = MenuNr + 1;

Flag1 = 1;

lcd.clear();

}

if (XValue > 600 && Flag1 == 0 && SwMenu == 0){ //if the joystick is pushed to the left side and flag1 is 0 then 1 will be subtracted from the menu number (purpose of the flag -> see comment Flags above)

MenuNr = MenuNr - 1;

Flag1 = 1;

lcd.clear();

}

if (XValue > 399 && XValue < 599 && Flag1 == 1){ //if joystick is at neutral possition, flag1 is set to 0 (purpose of the flag -> see comment Flags above)

Flag1 = 0;

}

if (SwValue == 0 && BtnFlag == 0){ //if the button is pressed and the flag is 0 -> add 1 to menu

SwMenu = SwMenu + 1;

BtnFlag = 1;

lcd.clear();

}

if (SwValue == 1 && BtnFlag == 1){ //if the button is not pressed and the flag is 0 -> Reset the flag (purpose of the flag -> see comment Flags above)

BtnFlag = 0;

}

//***********************************************Menu0***********************************************//

if (MenuNr == 0){ //Menu0 program

if (SwMenu == 0){ //Menu 0 selected

lcd.setCursor(0, 0);

lcd.print("Photogrametry");

}

if (SwMenu == 1){ //entered menu 0

lcd.setCursor(0, 0);

lcd.print("Nr of photo's");

lcd.setCursor(7, 1);

lcd.print(PhotoNr);

if (YValue < 400 && Flag2 == 0){ //joystick up -> Add 2 to number of photo's

PhotoNr = PhotoNr + 2;

Flag2 = 1;

lcd.clear();

}

if (YValue > 600 && Flag2 == 0){ //joystick down -> Subtract 2 from number of photo's

PhotoNr = PhotoNr - 2;

Flag2 = 1;

lcd.clear();

}

if (YValue > 399 && YValue < 599 && Flag2 == 1){ //if the Y-axis is back at it's neutral possition -> Flag3 = 0 -> Prevents constant adding or subtracting of 2

Flag2 = 0;

}

if (PhotoNr < 2){ //Min allowable Nr of photo's

PhotoNr = 2;

}

if (PhotoNr > 200){ //Max allowable Nr of photo's

PhotoNr = 200;

}

}

if (SwMenu == 2){ //Program started

lcd.setCursor(0, 0);

lcd.print("Program started");

lcd.setCursor(0, 1);

lcd.print("Photo Nr: ");

lcd.print(PhotoTaken);

StepPerPhoto = FullRev / PhotoNr; //Calculate amount of steps per photo

if (PhotoTaken < PhotoNr){

myStepper.setSpeed(rolePerMinute); //Set motor speed

myStepper.step(StepPerPhoto); //move the calculated amount of steps

PhotoTaken = PhotoTaken + 1; //Add 1 to photos taken

lcd.setCursor(0, 1);

lcd.print("Photo Nr: "); //Taking photo's

lcd.print(PhotoTaken);

Servo1.write(30);

delay(300);

Servo1.write(90);

delay(1000);

}

if (PhotoTaken == PhotoNr){ //If the amount of photos taken is equal to the amount of photos that have to be taken -> Program finished

lcd.setCursor(0, 0);

lcd.print("Program finished");

delay(3000);

lcd.clear(); //Rest parameters

PhotoTaken = 0;

PhotoNr = 2;

SwMenu = 0;

Steps = 0;

}

}

}

//***********************************************Menu1***********************************************//

if (MenuNr == 1){ //Menu1 program

if (SwMenu == 0){ //Menu1 selected

lcd.setCursor(0, 0);

lcd.print("Cinematic");

}

if (SwMenu == 1){ //Entered menu1 - sub menu1

lcd.setCursor(0, 0);

lcd.print("motor speed");

lcd.setCursor(7, 1);

lcd.print(rolePerMinute);

if (YValue < 400 && Flag3 == 0){ // joystick up -> Add 1 RPM

rolePerMinute = rolePerMinute + 1;

Flag3 = 1;

lcd.clear();

}

if (YValue > 600 && Flag3 == 0){ // joystick down -> Subtract 1 RPM

rolePerMinute = rolePerMinute - 1;

Flag3 = 1;

lcd.clear();

}

if (YValue > 399 && YValue < 599 && Flag3 == 1){ //if the Y-axis is back at it's neutral possition -> Flag3 = 0 -> Prevents constant adding or subtracting of 1

Flag3 = 0;

}

if (rolePerMinute < 1){ //Min allowable RPM

rolePerMinute = 1;

}

if (rolePerMinute > 17){ //Max allowable RPM

rolePerMinute = 17;

}

}

if (SwMenu == 2){ //Entered menu1 - sub menu2

lcd.setCursor(0, 0);

lcd.print("Nr of turns");

lcd.setCursor(7, 1);

lcd.print(TurnNr);

if (YValue < 400 && Flag4 == 0){ // joystick up -> Add 1 turn

TurnNr = TurnNr + 1;

Flag4 = 1;

lcd.clear();

}

if (YValue > 600 && Flag4 == 0){ // joystick down -> Subtract 1 turn

TurnNr = TurnNr - 1;

Flag4 = 1;

lcd.clear();

}

if (YValue > 399 && YValue < 599 && Flag4 == 1){ //if the Y-axis is back at it's neutral possition -> Flag3 = 0 -> Prevents constant adding or subtracting of 1

Flag4 = 0;

}

if (TurnNr < 1){ //Min allowable amount of turns

TurnNr = 1;

}

if (TurnNr > 200){ //Max allowable amount of turns

TurnNr = 200;

}

}

if (SwMenu == 3){ //Program started

lcd.setCursor(0, 0);

lcd.print("Program started");

lcd.setCursor(0, 1);

lcd.print("Turns done: ");

lcd.print(CurrentTurn);

if (CurrentTurn < TurnNr){

myStepper.setSpeed(rolePerMinute);

myStepper.step(FullRev);

CurrentTurn = CurrentTurn + 1;

lcd.setCursor(0, 1);

lcd.print("Turns done: ");

lcd.print(CurrentTurn);

}

if (CurrentTurn == TurnNr){ //If the current turn is equal to the amount of thurns that need to be turned -> program finished

lcd.setCursor(0, 0);

lcd.print("Program finished");

delay(3000);

lcd.clear(); //Reset

CurrentTurn = 0;

PhotoNr = 1;

rolePerMinute = 15;

SwMenu = 0;

Steps = 0;

}

}

}

//***********************************************Menu2***********************************************//

if (MenuNr == 2){ //Menu2 selected

if (SwMenu == 0){

lcd.setCursor(0, 0);

lcd.print("Manual control");

}

if (SwMenu == 1){ //Entered menu2

lcd.setCursor(0, 0);

lcd.print("motor speed");

lcd.setCursor(7, 1);

lcd.print(rolePerMinute);

if (YValue < 400 && Flag5 == 0){ // joystick up -> Add 1 RPM

rolePerMinute = rolePerMinute + 1;

Flag5 = 1;

lcd.clear();

}

if (YValue > 600 && Flag5 == 0){ // joystick down -> Subtract 1 RPM

rolePerMinute = rolePerMinute - 1;

Flag5 = 1;

lcd.clear();

}

if (YValue > 399 && YValue < 599 && Flag5 == 1){ //if the Y-axis is back at it's neutral possition -> Flag3 = 0 -> Prevents constant adding or subtracting of 1

Flag5 = 0;

}

if (rolePerMinute < 1){ //Min allowable RPM

rolePerMinute = 1;

}

if (rolePerMinute > 17){ //Max allowable RPM

rolePerMinute = 17;

}

if (XValue < 400 ){ //if the joystick is pushed to the right side and the neutral flag is 0 then 1 will be added to the menu number (purpose of the flag -> see comment Flag1 above)

Steps = Steps + 1;

myStepper.setSpeed(rolePerMinute);

myStepper.step(Steps);

lcd.setCursor(14, 1);

lcd.print("->");

Flag6 = 1;

}

if (XValue > 600 ){ //if the joystick is pushed to the left side and the neutral flag is 0 then 1 will be subtracted from the menu number (purpose of the flag -> see comment Flag1 above)

Steps = Steps + 1;

myStepper.setSpeed(rolePerMinute);

myStepper.step(-Steps);

lcd.setCursor(0, 1);

lcd.print("<-");

Flag6 = 1;

}

if (XValue > 399 && XValue < 599){ //if the Y-axis is back at it's neutral possition -> Flag3 = 0 -> Prevents constant adding or subtracting of 1

Steps = 0;

if (Flag6 == 1){

lcd.clear();

Flag6 = 0; //This flag is only active during 1 program cycle to clear the lcd

}

}

}

if (SwMenu == 2){ //Leave menu 2 when button is pressed

lcd.clear();

CurrentTurn = 0;

PhotoNr = 1;

rolePerMinute = 15;

SwMenu = 0;

Steps = 0;

}

}

}