Costruzione pilota automatico per barca a vela

[pepilene]

Risolto il problema della rotta.
Adesso l'angolo deve flottare a 5 gradi della rotta "senza nessuna azione dell'attuatore " scostamenti ".



#include <LiquidCrystal.h>
              #include <Wire.h>  //i2c library for the Digital Compass
   
          
               
               LiquidCrystal lcd( 12, 11, 7, 8, 9, 10 );
               const int hmc5883Address = 0x1E; //0011110b, I2C 7bit address for compass
               const byte hmc5883ModeRegister = 0x02;
               const byte hmcContinuousMode = 0x00;
               const byte hmcDataOutputXMSBAddress = 0x03;
               
int rotta=0;         
int tressessanta=360;
int zero=0;   
      void setup()
      {
                // set up the LCD's number of columns and rows:
                lcd.begin(16, 2);
                lcd.clear();  //make sure screen is clear.
                lcd.print("pepilene ");
                delay(4000);
                Wire.begin(); // Start the i2c communication
                Wire.beginTransmission(hmc5883Address);  //Begin communication with compass
                Wire.write(hmc5883ModeRegister);  //select the mode register
                Wire.write(hmcContinuousMode); //continuous measurement mode
                Wire.endTransmission();


  
pinMode(2, OUTPUT);//LED FUTURO RELAIS MOTORE A SINISTRA
pinMode(3, OUTPUT);//LED IN FUTURO RELAIS MOTORE A DRITTA
pinMode(4, OUTPUT);//LED PILOTA ON /OFF


pinMode(1, INPUT);//INTERRUTTORE ON OFF PILOTA
pinMode(5, INPUT);//PULSANTE MEMORIZZA ROTTA NUOVA DALL'ANGOLO ATTUALE
pinMode(13, INPUT);//PULSANTE + DIECI GRADI A DRITTA
pinMode(6, INPUT);//PULSANTE - DIECI GRADI A SINISTRA


  
       }





void loop()
            {
 
                int x,y,z; 
                Wire.beginTransmission(hmc5883Address);
                Wire.write(hmcDataOutputXMSBAddress);  //Select register 3, X MSB register
                Wire.endTransmission();
                Wire.requestFrom(hmc5883Address,6);
                if(6<=Wire.available())
                {
                  x = Wire.read()<<8; //X msb
                  x |= Wire.read();   //X lsb
                  z = Wire.read()<<8; //Z msb
                  z |= Wire.read();   //Z lsb
                  y = Wire.read()<<8; //Y msb
                  y |= Wire.read();   //Y lsb   
                }
                         
              int angle = atan2(-y,x)/M_PI*180; // setta angolo SEMPRE POSITIVO
              if (angle < 0) // 360 gradi
      
              {
                angle = angle +360;  // 360 gradi
              }


//IL DISPLAY VISUALIZZA STATO ON OPPURE OFF E POI ROTTA E ANGOLO , NON PIù X,Y,Z CHE MI PARE SERVANO A POCO
 
                lcd.clear();  //make sure screen is clear again.
lcd.setCursor(0,0); 
if (digitalRead(1) == HIGH) {lcd.print("ON:");} else {lcd.print("OFF:");}
                lcd.setCursor(4,0); 
                lcd.print("rotta:");
                lcd.setCursor(0,1); 
                lcd.print("gradi:");              
                lcd.setCursor(11,0);
                lcd.print(rotta);                
                lcd.setCursor(11,1);
                lcd.print(angle);              
                delay(500);
                
//PRIMA VA IMPOSTATA LA ROTA PREMENDO IL BOTTONE 5 
if (digitalRead(5) == HIGH) {rotta = angle;}


//POI VA AVVIATO IL PILOTA CON L'INTERRUTTORE 1         
if (digitalRead(1) == HIGH) {digitalWrite(4, HIGH);
  
//PILOTA ADESSO AVVIATO FUNZIONANO I TASTI PER CAMBIARE ROTTA


            // AUMENTA L'ANGOLO DI ROTTA
if (digitalRead(6) == HIGH) 
             {
              rotta = rotta + 10;


             // ORA RIPORTA I VALORI DENTRO I 360 GRADI
             if (rotta > tressessanta) { rotta = rotta - tressessanta;}
             delay(30);
            }
            
              // DIMINUISCI L'ANGLO DI ROTTA
if (digitalRead(13) == HIGH) 
             {
              rotta = rotta - 10;


              // ORA RIPORTA I VALORI DENTRO I 360 GRADI
              if (rotta < zero) {rotta = rotta + tressessanta;}
              delay (30);
             }  
   // PILOTA AUTOMATICAMENTE AUTONOMO          
if (rotta < angle){digitalWrite(3, HIGH); delay(100);digitalWrite(3, LOW); delay(100);}
else {digitalWrite(2, HIGH);delay(100);digitalWrite(2, LOW);delay(100);}
    }
else
  {digitalWrite(3, LOW);}
}