Coding with "millis()" with "pseudo-results" (not working as intended)

pelucactron06 · November 4, 2024, 3:21am

Hello, hope you're all having a good day! I need to fall here because I'm working on a final project for school (the last year kinds!) and I'm met with problems in between simulation and coding; maybe the problem is from the simulator, but better to be safe than sorry! The simulation program is SimulIDE-1.1.0-SR1.

So, inside my spaghetti of code for this machine, I have a function (bool type) that returns either 1 or 0 if a process is done (1) or not (0). "Which one?" I hear you ask; it is as simple as a "slow start" with motors (maybe you know it by other name).
Long story short: it's a section of the function that does the job of timing (I used millis() to try and avoid the for() function) and every a couple of milliseconds it increments the duty cycle on a PWM output pin (the one connected to the motor).

The problem lies within the usage of "millis()" instead of "for()". I included comments of how I implemented the for() section (that works), but the section I want is with "millis()" and I can't get it working. It prints correctly the PWM value, but it fails at slow-starting the motor (in simulation, it stays in 0 for the whole cycle until it jumps to 1). Happens the same either with the "slow-start"/"slow-rise" and the "slow-fall" sections. Also, I declared the slowTime variable as unsigned long, and fuerzaPWM as unsigned int (registerPWM is just a bool one that has similar purpose as the switch()).

And here's the section of that spaghetti (sorry for Spanish/English combo):


bool slowMotion(bool mode){
  switch(mode){
    // Parada suave: 1 -> 0.
    case 0:
      if(!registerPWM){
        fuerzaPWM = 255;
        registerPWM = 1;
        Serial.print("\nParada Suave.");
      }

      // t = 10s.
      analogWrite(pinMotor, fuerzaPWM);   // -> ### VPROBLEM HERE ###
      if(fuerzaPWM == 0){
        registerPWM = 0;
        return 1;
      }

      if(millis() >= slowTime + 40){
        fuerzaPWM--;
        slowTime = millis();
        
        Serial.print('\n');
        Serial.print(fuerzaPWM);   // Prints correct PWM value (0~255).
      }
    break;

    // Arranque suave: 0 -> 1.
    case 1:
      if(!registerPWM){
        fuerzaPWM = 0;
        registerPWM = 1;
        Serial.print("\nArranque Suave.");
      }
      // t = 5s.
      // ### W/ MILLIS() ###
      analogWrite(pinMotor, fuerzaPWM);   // -> ### VPROBLEM HERE ###
      if(fuerzaPWM == 255){
        registerPWM = 0;
        return 1;
      }

      if(millis() >= slowTime + 20){
        fuerzaPWM++;
        slowTime = millis();

        Serial.print('\n');
        Serial.print(fuerzaPWM);   // Prints correct PWM value (0~255).
      }

      // ### W/ FOR() ###
      // for(unsigned int k = 0; k <= 255; k++){
      //   analogWrite(pinMotor, k);
      //   delay(20);
      // }
      // registerPWM = 0;
      // return 1;

    break;
  }
  return 0;
}

Now, if you want to see EVERYTHING (UPDATED), this is what I got so far, but some parts are yet to be completed. I follow the state machine logic and use switch() a lot, but the empty cases are not called and the machine won't fall on those yet:


// ####### VARIABLES STATE MACHINE #######
byte stateMachine;
#define Stop 0
#define Run 1
#define NoFreeze 2

byte subStateMachine;
//  Stop:
#define SetOff 0
#define SlowFallOFF 1
#define WaitSetOn 2

//  Run:
#define MaxTemp 0
#define SlowRise 1
#define Running 2
#define SlowFallON 3
#define MinTemp 4

//  NoFreeze:
#define SetInv 0
#define WaitTimer1 1
// #define X 2

//  FAIL VARIABLES:
word failState;
#define ReadFail 0
#define SetFailState 1
#define MuteAlarm 2
#define WaitSystemReset 3
// #define X 4

// ####### PINS #######
#define pinPP 2       // Pulsador parada.
#define pinPM 3       // Pulsador marcha.
#define pinP_Mute 4   // Pulsador silenciar alarma.
#define pinFan 7      // Ventilador.
#define pinValInv 8   // Valvula inversora.
#define pinMotor 9    // Motor + inverter (PWM OUTPUT).
#define pinAlarm 10   // Alarma/buzzer/parlante.
#define pinLED_ON 11  // LED de encendido.
#define pinLED_OFF 12 // LED de apagado.
#define pinLED_FG 13  // LED de falla general.
#define pinTerm A2    // Termometro (4mA=1v=204 ; 20mA=5v=1023).

// ####### SPECIALS #######
bool alarm = 0;
bool apagado = 0;
unsigned long timer1 = 0;
unsigned long slowTime = 0;
int fuerzaPWM = 0;
bool registerPWM = 0;
// bool slowMEnable = 0;

void setup() {
  pinMode(pinPP, INPUT);
  pinMode(pinPM, INPUT);
  pinMode(pinTerm, INPUT);
  pinMode(pinP_Mute, INPUT);
  pinMode(pinLED_ON, OUTPUT);
  pinMode(pinLED_OFF, OUTPUT);
  pinMode(pinLED_FG, OUTPUT);
  pinMode(pinAlarm, OUTPUT);
  pinMode(pinMotor, OUTPUT);
  pinMode(pinValInv, OUTPUT);
  pinMode(pinFan, OUTPUT);
  stateMachine = Stop;
  subStateMachine = SetOff;

  Serial.begin(9600);
}

void loop() {
  if(!alarm){
    // States: Run - Stop - NoFreeze.
    switch(stateMachine){
      case Stop:
        // Substates: SetOff - WaitSetOn.
        switch(subStateMachine){
          case SetOff:
            digitalWrite(pinLED_ON, 0);
            digitalWrite(pinLED_OFF, 1);
            digitalWrite(pinFan, 0);
            apagado = 0;
            subStateMachine = WaitSetOn;
            Serial.print("\nStop -> SET OFF");
          break;

          // 10 -> 0V (10s).
          case SlowFallOFF:
            // slowMotion(0);
            // if(slowMotion(0)){
            if(slowMotion2(0)){
              subStateMachine = SetOff;
              Serial.print("\nStop -> WAIT SET ON");
            }
          break;

          case WaitSetOn:
            if(digitalRead(pinPM)){
              stateMachine = Run;
              subStateMachine = MaxTemp;
              Serial.print("\nRun -> Min Temp");
            }
          break;
        }
      break;

      case Run:
        
        if(digitalRead(pinMotor)){
          digitalWrite(pinFan, 1);
        }else{
          digitalWrite(pinFan, 0);
        }

        // Substates: MaxTemp - SlowRise - MinTemp - SlowFallON.
        switch(subStateMachine){
          // Functioning range: (-21 ~ -17)°C = (2.16 ~ 2.32)mV = (441 ~ 474)AIu
          case MaxTemp:
            if(analogRead(pinTerm) >= 474){
              subStateMachine = SlowRise;
              
              Serial.print("\npinTerm = ");
              Serial.print(analogRead(pinTerm));
              Serial.print('\n');
            }
          break;

          // 0 -> 10V (5s).
          case SlowRise:
            // slowMEnable = slowMotion(1);
            // if(slowMEnable){
            if(slowMotion2(1)){
              subStateMachine = MinTemp;
              Serial.print("\nRun -> MinTemp.");
            }
          break;

          case MinTemp:
            digitalWrite(pinMotor, 1);
            if(digitalRead(pinPP)){
              apagado = 1;
              subStateMachine = SlowFallON;
              digitalWrite(pinFan, 0);
              break;
            }
            if(analogRead(pinTerm) <= 441){
              subStateMachine = SlowFallON;
            }
          break;

          case SlowFallON:
            // slowMEnable = slowMotion(0);
            // if(slowMEnable){
            if(slowMotion2(0)){
              if(apagado){
                stateMachine = Stop;
                subStateMachine = SetOff;
              }else{
                subStateMachine = MaxTemp;
              }
            }
          break;
        }
      break;

      // To complete.
      case NoFreeze:
        // Substates: SetInv - WaitTimer1.
        switch(subStateMachine){
          case SetInv:

          break;

          case WaitTimer1:

          break;
        }
      break;
    }
  }

  // To complete.
  // States: ReadFail - SetFailState - MuteAlarm - WaitSystemReset.
  switch(failState){
    case ReadFail:

    break;

    case SetFailState:

    break;

    case MuteAlarm:

    break;

    case WaitSystemReset:

    break;
  }
}

bool slowMotion2(bool mode){
  switch(mode){
    // Parada suave: 1 -> 0.
    case 0:
      switch(registerPWM){
        case 0:
          fuerzaPWM = 255;
          analogWrite(pinMotor, fuerzaPWM);
          Serial.print("\nParada Suave.");
          slowTime = millis();
          registerPWM = 1;  // Cycle started.
        break;

        case 1:
          // t = 10s.
          if((fuerzaPWM > 0) && ((millis() - slowTime) >= 40)){
            fuerzaPWM--;
            analogWrite(pinMotor, fuerzaPWM);
            slowTime = millis();
            Serial.print('\n');
            Serial.print(fuerzaPWM);
            // analogWrite(pinMotor, fuerzaPWM);
          }
          if(fuerzaPWM == 0){
            digitalWrite(fuerzaPWM, 0);
            registerPWM = 0;
            return 1;  // Cycle ended.
          }
        break;
      }
    break;

    // Arranque suave: 0 -> 1.
    case 1:
      switch(registerPWM){
        case 0:
          fuerzaPWM = 0;
          analogWrite(pinMotor, fuerzaPWM);
          Serial.print("\nArranque Suave.");
          slowTime = millis();
          registerPWM = 1;  // Cycle started.
        break;

        case 1:
          // t = 5s.
          if((fuerzaPWM < 255) && ((millis() - slowTime) >= 20)){
            fuerzaPWM++;
            analogWrite(pinMotor, fuerzaPWM);
            slowTime = millis();
            Serial.print('\n');
            Serial.print(fuerzaPWM);
          }
          if(fuerzaPWM == 255){
            digitalWrite(fuerzaPWM, 1);
            registerPWM = 0;
            return 1;  // Cycle ended.
          }
        break;
      }
    break;
  }

  return 0;
}

/*
bool slowMotion(bool mode){
  switch(mode){
    // Parada suave: 1 -> 0.
    case 0:
      if(!registerPWM){
        fuerzaPWM = 255;
        registerPWM = 1;
        Serial.print("\nParada Suave.");
      }

      // t = 10s.
      analogWrite(pinMotor, fuerzaPWM);
      if(fuerzaPWM == 0){
        registerPWM = 0;
        return 1;
      }

      if(millis() - slowTime >= 40){
        fuerzaPWM--;
        slowTime = millis();
        
        Serial.print('\n');
        Serial.print(fuerzaPWM);
      }
    break;

    // Arranque suave: 0 -> 1.
    case 1:
      if(!registerPWM){
        fuerzaPWM = 0;
        registerPWM = 1;
        Serial.print("\nArranque Suave.");
      }
      // t = 5s.
      // ### W/ MILLIS() ###
      analogWrite(pinMotor, fuerzaPWM);
      if(fuerzaPWM == 255){
        registerPWM = 0;
        return 1;
      }

      if(millis() - slowTime >= 20){
        fuerzaPWM++;
        slowTime = millis();

        Serial.print('\n');
        Serial.print(fuerzaPWM);
      }

      // ### W/ FOR() ###
      // for(unsigned int k = 0; k <= 255; k++){
      //   analogWrite(pinMotor, k);
      //   delay(20);
      // }
      // registerPWM = 0;
      // return 1;

    break;
  }
  return 0;
}
*/

// To complete
bool failCheck(){

  return 0;
}

lastchancename · November 4, 2024, 4:29am

Without looking closely looking at your code, two possibilities appear.

Are your millis variables all typed unsigned long ?

Look closely at the millis examples when testing for your event overflow.

gcjr · November 4, 2024, 12:12pm

"what" do you want the code to do?

slowMotion(0) causes fuerzaPWM to repeatedly cycle from 255-0;

doubt this is what you want, but the following cycles fuerzaPWM up and down, return the mode argument except when either case reaches an end-point, at which point, mode toggles

bool slowMotion (
    bool mode)
{
    ...
    return mode;
}

int mode;
void loop ()
{
    mode = slowMotion (mode);
}

pelucactron06 · November 4, 2024, 12:15pm

Yes, they're declared as unsigned longs, and the fuerzaPWM is unsigned int.

pelucactron06 · November 4, 2024, 12:20pm

I have 2 modes because I can choose in other parts of the code with just a bool argument if I want to either make a "slow-rise" or a "slow-fall", that being going from 0 to 255 or viceversa via PWM signals. The returning value is used in "if()" statements to compare is the process is done or not. And yes, it is what I want because it is meant to be connected to an AC motor driven by a controller, and those motors need a slow start if you don't want a lot of power drawn at the start (current peaks).

Also, the fuerzaPWM variable prints correctly in the serial monitor, going 0 through 255 or the opposite cycle when asked, but I don't know why the motor isn't receiving that. It is connected to pin 9 (Arduino UNO board) so it should be PWM capable. As I said, with the for() version of the same task it achieves that, but I can't comprehend why.

gcjr · November 4, 2024, 1:06pm

please post that

J-M-L · November 4, 2024, 1:13pm

it's commented out

pelucactron06:

      // ### W/ FOR() ###
      // for(unsigned int k = 0; k <= 255; k++){
      //   analogWrite(pinMotor, k);
      //   delay(20);
      // }
      // registerPWM = 0;
      // return 1;

--

@pelucactron06 - we would need to see the full code to see how you call that and how often and what else is going on.

usually what you describe is best serve by a finite state machine code architecture (Here is a small introduction to the topic: Yet another Finite State Machine introduction )

also don't do

as it won't work well when millis() rolls over. Prefer always the subtraction

      if(millis() - slowTime >=  20){

gcjr · November 4, 2024, 1:20pm

before suggesting changes to the code, your saying that

worked before, but now

it doesn't?

does it work elsewhere in your code?

pelucactron06 · November 4, 2024, 1:49pm

Okay, is that change really that important (maybe because it can cause errors like this)?
I just want to know the reason behind so I can utilize all of the tools available at their fullest.

pelucactron06 · November 4, 2024, 1:50pm

Yes, it works with the for() example, but not with the millis() one.

pelucactron06 · November 4, 2024, 2:01pm

Updated the post with full code so far.
Again, it is not complete and needs to be worked on other states of the machine, but it will include failure states for when something unexpected happens, and that's the main reason why I can't use for().

J-M-L · November 4, 2024, 2:03pm

the for loop does everything in one go with a delay of 20ms in between changes

you do this every time you enter case 0 or case 1.

shouldn't you do it when millis() - slowTime is over a threshold ?

also we don't know how often you call that function from the loop nor how.. so I'd say that the proverbial crystal ball is still in the dishwasher...

pelucactron06 · November 4, 2024, 2:09pm

Lmao I love the crystal ball.
But the function, as a state machine, is called over certain states. I have stateMachine and subStateMachine to switch in between those, where I have declared those states and substates at the very beggining of the code. Those are:

States:

Stop
Run
NoFreeze (unused for now)

Substates:
Stop:

SetOff
SlowFallOFF
WaitSetOn

Run:

MaxTemp
SlowRise
Running
SlowFallON
MinTemp

(We'll ignore "NoFreeze" for now, it is empty).

It is called:

case SlowFallOFF:
   if(slowMotion(0)){

case SlowRise:
   slowMEnable = slowMotion(1);

case SlowFallON:
   slowMEnable = slowMotion(0);

gcjr · November 4, 2024, 2:16pm

when is it not called, where the for loop was allowed to run to completion and not slowMotion () may not be called repeatedly

hence the request for the complete code, not a description of what you think is happening

pelucactron06 · November 4, 2024, 2:24pm

I see. I thought that leaving the machine at the same state running that slowMotion() function will make it run for enough times to make it complete its task.

It is strange that it returns 1 in both cases (either with "for()" or with "millis()").

Any ideas on how to change the function without using "for()"? If anything fails, I would try to use that function as a last resource (the time for the 2 modes of the function slowMotion() are 5s for a slow-start/rise and 10s for a slow-fall!).

gcjr · November 4, 2024, 2:28pm

it's still unclear (to me) what you're trying to do.

another approach that makes gradual speed changes is to call the following in loop() with target (pwm) speeds. It wil gradually adjust the pwm value whenever the target does not match the current pwm value.

void update (
    int  target )
{
    if (fuerzaPWM < target)
        fuerzaPWM++;
    else if (fuerzaPWM > target)
        fuerzaPWM--;

    analogWrite (pinMotor, fuerzaPWM);

    delay (40);
}

pelucactron06 · November 4, 2024, 2:31pm

Pretty solid and straight to the point. Thanks!
I'll implement it with small changes (because I need a specified and different time for both modes) and update this forum with what I can. Hope the simulation works!

pelucactron06 · November 4, 2024, 4:32pm

Okay, so I implemented the following code but, upon trying it IRL with just a button and an LED on pin 9, it flickers at a low PWM duty cycle (for example, at 20% or less of the maximum value) and, when the function returns 1 (the cycle ends), it stays at maximum brightness.


bool slowMotion2(bool mode){
  switch(mode){
    // Parada suave: 1 -> 0.
    case 0:
      switch(registerPWM){
        case 0:
          fuerzaPWM = 255;
          analogWrite(pinMotor, fuerzaPWM);
          Serial.print("\nParada Suave.");
          slowTime = millis();
          registerPWM = 1;  // Cycle started.
        break;

        case 1:
          // t = 10s.
          if((fuerzaPWM > 0) && ((millis() - slowTime) >= 40)){
            fuerzaPWM--;
            analogWrite(pinMotor, fuerzaPWM);
            slowTime = millis();
            Serial.print('\n');
            Serial.print(fuerzaPWM);
            // analogWrite(pinMotor, fuerzaPWM);
          }
          if(fuerzaPWM == 0){
            digitalWrite(fuerzaPWM, 0);
            registerPWM = 0;
            return 1;  // Cycle ended.
          }
        break;
      }
    break;

    // Arranque suave: 0 -> 1.
    case 1:
      switch(registerPWM){
        case 0:
          fuerzaPWM = 0;
          analogWrite(pinMotor, fuerzaPWM);
          Serial.print("\nArranque Suave.");
          slowTime = millis();
          registerPWM = 1;  // Cycle started.
        break;

        case 1:
          // t = 5s.
          if((fuerzaPWM < 255) && ((millis() - slowTime) >= 20)){
            fuerzaPWM++;
            analogWrite(pinMotor, fuerzaPWM);
            slowTime = millis();
            Serial.print('\n');
            Serial.print(fuerzaPWM);
          }
          if(fuerzaPWM == 255){
            digitalWrite(fuerzaPWM, 1);
            registerPWM = 0;
            return 1;  // Cycle ended.
          }
        break;
      }
    break;
  }

  return 0;
}

gcjr · November 4, 2024, 4:34pm

where is the code calling slowMotion2() ? ????

pelucactron06 · November 4, 2024, 4:37pm

I just changed where slowMotion() is called with a call to slowMotion2().
Here's the full code:

// ####### VARIABLES STATE MACHINE #######
byte stateMachine;
#define Stop 0
#define Run 1
#define NoFreeze 2

byte subStateMachine;
//  Stop:
#define SetOff 0
#define SlowFallOFF 1
#define WaitSetOn 2

//  Run:
#define MaxTemp 0
#define SlowRise 1
#define Running 2
#define SlowFallON 3
#define MinTemp 4

//  NoFreeze:
#define SetInv 0
#define WaitTimer1 1
// #define X 2

//  FAIL VARIABLES:
word failState;
#define ReadFail 0
#define SetFailState 1
#define MuteAlarm 2
#define WaitSystemReset 3
// #define X 4

// ####### PINS #######
#define pinPP 2       // Pulsador parada.
#define pinPM 3       // Pulsador marcha.
#define pinP_Mute 4   // Pulsador silenciar alarma.
#define pinFan 7      // Ventilador.
#define pinValInv 8   // Valvula inversora.
#define pinMotor 9    // Motor + inverter (PWM OUTPUT).
#define pinAlarm 10   // Alarma/buzzer/parlante.
#define pinLED_ON 11  // LED de encendido.
#define pinLED_OFF 12 // LED de apagado.
#define pinLED_FG 13  // LED de falla general.
#define pinTerm A2    // Termometro (4mA=1v=204 ; 20mA=5v=1023).

// ####### SPECIALS #######
bool alarm = 0;
bool apagado = 0;
unsigned long timer1 = 0;
unsigned long slowTime = 0;
int fuerzaPWM = 0;
bool registerPWM = 0;
// bool slowMEnable = 0;

void setup() {
  pinMode(pinPP, INPUT);
  pinMode(pinPM, INPUT);
  pinMode(pinTerm, INPUT);
  pinMode(pinP_Mute, INPUT);
  pinMode(pinLED_ON, OUTPUT);
  pinMode(pinLED_OFF, OUTPUT);
  pinMode(pinLED_FG, OUTPUT);
  pinMode(pinAlarm, OUTPUT);
  pinMode(pinMotor, OUTPUT);
  pinMode(pinValInv, OUTPUT);
  pinMode(pinFan, OUTPUT);
  stateMachine = Stop;
  subStateMachine = SetOff;

  Serial.begin(9600);
}

void loop() {
  if(!alarm){
    // States: Run - Stop - NoFreeze.
    switch(stateMachine){
      case Stop:
        // Substates: SetOff - WaitSetOn.
        switch(subStateMachine){
          case SetOff:
            digitalWrite(pinLED_ON, 0);
            digitalWrite(pinLED_OFF, 1);
            digitalWrite(pinFan, 0);
            apagado = 0;
            subStateMachine = WaitSetOn;
            Serial.print("\nStop -> SET OFF");
          break;

          // 10 -> 0V (10s).
          case SlowFallOFF:
            // slowMotion(0);
            // if(slowMotion(0)){
            if(slowMotion2(0)){
              subStateMachine = SetOff;
              Serial.print("\nStop -> WAIT SET ON");
            }
          break;

          case WaitSetOn:
            if(digitalRead(pinPM)){
              stateMachine = Run;
              subStateMachine = MaxTemp;
              Serial.print("\nRun -> Min Temp");
            }
          break;
        }
      break;

      case Run:
        
        if(digitalRead(pinMotor)){
          digitalWrite(pinFan, 1);
        }else{
          digitalWrite(pinFan, 0);
        }

        // Substates: MaxTemp - SlowRise - MinTemp - SlowFallON.
        switch(subStateMachine){
          // Functioning range: (-21 ~ -17)°C = (2.16 ~ 2.32)mV = (441 ~ 474)AIu
          case MaxTemp:
            if(analogRead(pinTerm) >= 474){
              subStateMachine = SlowRise;
              
              Serial.print("\npinTerm = ");
              Serial.print(analogRead(pinTerm));
              Serial.print('\n');
            }
          break;

          // 0 -> 10V (5s).
          case SlowRise:
            // slowMEnable = slowMotion(1);
            // if(slowMEnable){
            if(slowMotion2(1)){
              subStateMachine = MinTemp;
              Serial.print("\nRun -> MinTemp.");
            }
          break;

          case MinTemp:
            digitalWrite(pinMotor, 1);
            if(digitalRead(pinPP)){
              apagado = 1;
              subStateMachine = SlowFallON;
              digitalWrite(pinFan, 0);
              break;
            }
            if(analogRead(pinTerm) <= 441){
              subStateMachine = SlowFallON;
            }
          break;

          case SlowFallON:
            // slowMEnable = slowMotion(0);
            // if(slowMEnable){
            if(slowMotion2(0)){
              if(apagado){
                stateMachine = Stop;
                subStateMachine = SetOff;
              }else{
                subStateMachine = MaxTemp;
              }
            }
          break;
        }
      break;

      // To complete.
      case NoFreeze:
        // Substates: SetInv - WaitTimer1.
        switch(subStateMachine){
          case SetInv:

          break;

          case WaitTimer1:

          break;
        }
      break;
    }
  }

  // To complete.
  // States: ReadFail - SetFailState - MuteAlarm - WaitSystemReset.
  switch(failState){
    case ReadFail:

    break;

    case SetFailState:

    break;

    case MuteAlarm:

    break;

    case WaitSystemReset:

    break;
  }
}

bool slowMotion2(bool mode){
  switch(mode){
    // Parada suave: 1 -> 0.
    case 0:
      switch(registerPWM){
        case 0:
          fuerzaPWM = 255;
          analogWrite(pinMotor, fuerzaPWM);
          Serial.print("\nParada Suave.");
          slowTime = millis();
          registerPWM = 1;  // Cycle started.
        break;

        case 1:
          // t = 10s.
          if((fuerzaPWM > 0) && ((millis() - slowTime) >= 40)){
            fuerzaPWM--;
            analogWrite(pinMotor, fuerzaPWM);
            slowTime = millis();
            Serial.print('\n');
            Serial.print(fuerzaPWM);
            // analogWrite(pinMotor, fuerzaPWM);
          }
          if(fuerzaPWM == 0){
            digitalWrite(fuerzaPWM, 0);
            registerPWM = 0;
            return 1;  // Cycle ended.
          }
        break;
      }
    break;

    // Arranque suave: 0 -> 1.
    case 1:
      switch(registerPWM){
        case 0:
          fuerzaPWM = 0;
          analogWrite(pinMotor, fuerzaPWM);
          Serial.print("\nArranque Suave.");
          slowTime = millis();
          registerPWM = 1;  // Cycle started.
        break;

        case 1:
          // t = 5s.
          if((fuerzaPWM < 255) && ((millis() - slowTime) >= 20)){
            fuerzaPWM++;
            analogWrite(pinMotor, fuerzaPWM);
            slowTime = millis();
            Serial.print('\n');
            Serial.print(fuerzaPWM);
          }
          if(fuerzaPWM == 255){
            digitalWrite(fuerzaPWM, 1);
            registerPWM = 0;
            return 1;  // Cycle ended.
          }
        break;
      }
    break;
  }

  return 0;
}

/*
bool slowMotion(bool mode){
  switch(mode){
    // Parada suave: 1 -> 0.
    case 0:
      if(!registerPWM){
        fuerzaPWM = 255;
        registerPWM = 1;
        Serial.print("\nParada Suave.");
      }

      // t = 10s.
      analogWrite(pinMotor, fuerzaPWM);
      if(fuerzaPWM == 0){
        registerPWM = 0;
        return 1;
      }

      if(millis() - slowTime >= 40){
        fuerzaPWM--;
        slowTime = millis();
        
        Serial.print('\n');
        Serial.print(fuerzaPWM);
      }
    break;

    // Arranque suave: 0 -> 1.
    case 1:
      if(!registerPWM){
        fuerzaPWM = 0;
        registerPWM = 1;
        Serial.print("\nArranque Suave.");
      }
      // t = 5s.
      // ### W/ MILLIS() ###
      analogWrite(pinMotor, fuerzaPWM);
      if(fuerzaPWM == 255){
        registerPWM = 0;
        return 1;
      }

      if(millis() - slowTime >= 20){
        fuerzaPWM++;
        slowTime = millis();

        Serial.print('\n');
        Serial.print(fuerzaPWM);
      }

      // ### W/ FOR() ###
      // for(unsigned int k = 0; k <= 255; k++){
      //   analogWrite(pinMotor, k);
      //   delay(20);
      // }
      // registerPWM = 0;
      // return 1;

    break;
  }
  return 0;
}
*/

// To complete
bool failCheck(){

  return 0;
}

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