The easiest way to analyse your code is to post it as a code-section
I deleted those many many many empty lines in between
//Pin Info in MEGA
//51,50,52,53---->MOSI,MISO,SCK,CS ------->Data logging pins for SD card Module
// 20,21-----> SDA,SCL ------->D23221 Module for RTC
//including libraries
#include <SoftwareSerial.h>
#include <SPI.h>
#include <avr/wdt.h>
//comand code recieved from Excel for starting scan
// allocating Limit switches 6
// Connecting all limit switches in NC condition to avoid aacidental overtravel.
// by default the switfhes will read LOW . If wire breaks down the contorller will detect HIGH.
#define DEBOUNCE_DELAY 50
unsigned long lastDebounceTime = 0;
//Interupt pins for arduino
#define LSLeftTop 2
#define LSLeftBottom 3
#define LSTopLeft 18
#define LSTopRight 19
#define LSRightTop 20
#define LSRightBottom 21
//Defining boolean values for interupts
volatile bool LSLeftTopPressed = false;
volatile bool LSLeftBottomPressed = false;
volatile bool LSTopLeftPressed = false;
volatile bool LSTopRightPressed = false;
volatile bool LSRightTopPressed = false;
volatile bool LSRightBottomPressed = false;
bool prev_LSLeftTop = HIGH;
bool prev_LSLeftBottom = HIGH;
bool prev_LSTopLeft = HIGH;
bool prev_LSTopRight = HIGH;
bool prev_LSRightTop = HIGH;
bool prev_LSRightBottom = HIGH;
//To print state only once
bool lastLSLeftTopState = false;
String Commandfromexcel;
//Basic Function Commands
String ResetControllerCommand = "8269836984";
String TroubleShootcommand = "6869668571";
String ExitCommandFromDiagnostic = "69887384";
String Stopcommand = "83847980";
String HomeCommand = "87737676";
String Startcommand = "65667273";
String Resetvoidloop = "8276797980";
String LeftMotorUp = "768580";
String LeftMotorDown = "7668798778";
String TopMotorLeft = "8476697084";
String TopMotorRight = "848273717284";
String RightMotorUp = "828580";
String RightMotorDown = "8268798778";
String LeftMotorStop = "7683847980";
String TopMotorStop = "8483847980";
String RightMotorStop = "8283847980";
//Troubleshooting Commands
//Commands for LED indicators
String GreenLEDON = "71766968";
String GreenLEDOFF = "7176797070";
String BlueLedON = "66767978";
String BlueLedOFF = "6676797070";
String BuzzerON = "66857978";
String BuzzerOFF = "6685797070";
//Troubleshooting commands for Sensors
String LeftSesnorTestON = "76837978";
String LeftSesnorTestOFF = "7683797070";
String TopSensorTestON = "84837978";
String TopSesnsorTestOFF = "8483797070";
String RightSensorTestON = "82837978";
String RightSensorTestOFF = "8283797070";
//allocating pins for buzzer and led
const int LedGreen = 41; // This Led will blink if Ardunio has power
//alocating pins for sensor data
const int SensorLeft = A0;
const int SensorTop = A1;
const int SensorRight = A2;
//Allocating pins for stepper motor
//Left stepper motor pins
const int Enablepin1 = 9;
const int Pulsepin1 = 10;
const int Dirpin1 = 11;
//Top motor pins
const int Enablepin2 = 5;
const int Pulsepin2 = 6;
const int Dirpin2 = 7;
//Right Stepper motors
const int Enablepin3 = 24;
const int Pulsepin3 = 23;
const int Dirpin3 = 24;
//Boolean commands for Homing motors
bool Motor1HomeStatus = false;
bool Motor2HomeStatus = false;
bool Motor3HomeStatus = false;
//Allocating pins for SD Card module
//const int chipselect = 53;
//initiating steps per revolution which is constant for all drivers
const int StepsPerRevolution = 400;
//allocating variables for
String Distance1;
String Distance2;
String Distance3;
int RawSensorData1;
int RawSensorData2;
int RawSensorData3;
//pin allocation for emergency switch
const int emergencycuttoffpin = 44;
//making waiting for command print only once.
bool waitingForCommandPrinted = false;
bool serialConnected = false;
bool InDiagnosticmodecommandprinted = false;
//Functions for 6 interupsts
void LimitSwitchLeftTop() {
unsigned long currentMillis = millis();
if (currentMillis - lastDebounceTime > DEBOUNCE_DELAY) {
LSLeftTopPressed = true; // Set flag when switch is pressed
lastDebounceTime = currentMillis;
}
}
void LimitSwitchLeftBottom() {
unsigned long currentMillis = millis();
if (currentMillis - lastDebounceTime > DEBOUNCE_DELAY) {
LSLeftBottomPressed = true; // Set flag when switch is pressed
lastDebounceTime = currentMillis;
}
}
void LimitSwitchTopLeft() {
unsigned long currentMillis = millis();
if (currentMillis - lastDebounceTime > DEBOUNCE_DELAY) {
LSTopLeftPressed = true; // Set flag when switch is pressed
lastDebounceTime = currentMillis;
}
}
void LimitSwitchTopRight() {
unsigned long currentMillis = millis();
if (currentMillis - lastDebounceTime > DEBOUNCE_DELAY) {
LSTopRightPressed = true; // Set flag when switch is pressed
lastDebounceTime = currentMillis;
}
}
void LimitSwitchRightTop() {
unsigned long currentMillis = millis();
if (currentMillis - lastDebounceTime > DEBOUNCE_DELAY) {
LSRightTopPressed = true; // Set flag when switch is pressed
lastDebounceTime = currentMillis;
}
}
void LimitSwitchRightBottom() {
unsigned long currentMillis = millis();
if (currentMillis - lastDebounceTime > DEBOUNCE_DELAY) {
LSRightBottomPressed = true; // Set flag when switch is pressed
lastDebounceTime = currentMillis;
}
}
void setup() {
// put your setup code here, to run once:
Serial.begin(57600);
//initializing pins for Sensor
//Initiallizing SD Card
//while (!Serial)
// ;
//Serial.print("Initializing SD card...");
//if (!SD.begin(chipselect)) {
// Serial.println("initialization failed. Things to check:");
// Serial.println("1. is a card inserted?");
// Serial.println("2. is your wiring correct?");
// Serial.println("3. did you change the chipSelect pin to match your shield or module?");
// Serial.println("Note: press reset button on the board and reopen this Serial Monitor after fixing your issue!");
// } else {
// Serial.println("initialization done.");
// }
//Intializing pins for LED this will indicate if the controller is on or off.
pinMode(LedGreen, OUTPUT);
//digitalWrite(LedGreen,HIGH);
//Intializing the Limit switch pins
pinMode(LSLeftTop, INPUT_PULLUP);
pinMode(LSLeftBottom, INPUT_PULLUP);
pinMode(LSTopLeft, INPUT_PULLUP);
pinMode(LSTopRight, INPUT_PULLUP);
pinMode(LSRightTop, INPUT_PULLUP);
pinMode(LSRightBottom, INPUT_PULLUP);
attachInterrupt(digitalPinToInterrupt(LSLeftTop), LimitSwitchLeftTop, RISING);
attachInterrupt(digitalPinToInterrupt(LSLeftBottom), LimitSwitchLeftBottom, RISING);
attachInterrupt(digitalPinToInterrupt(LSTopLeft), LimitSwitchTopLeft, RISING);
attachInterrupt(digitalPinToInterrupt(LSTopRight), LimitSwitchTopRight, RISING);
attachInterrupt(digitalPinToInterrupt(LSRightTop), LimitSwitchRightTop, RISING);
attachInterrupt(digitalPinToInterrupt(LSRightBottom), LimitSwitchRightBottom, RISING);
//Initializing Motors Left pins
pinMode(Dirpin1, OUTPUT);
pinMode(Pulsepin1, OUTPUT);
pinMode(Enablepin1, OUTPUT);
//Initializing Motors Top pins
pinMode(Dirpin2, OUTPUT);
pinMode(Pulsepin2, OUTPUT);
pinMode(Enablepin2, OUTPUT);
//Initializing Motors Right pins
pinMode(Dirpin3, OUTPUT);
pinMode(Pulsepin3, OUTPUT);
pinMode(Enablepin3, OUTPUT);
//Intializing pins for emegencycuttoffswitch
pinMode(emergencycuttoffpin, INPUT_PULLUP);
}
void loop() {
delay(5);
handleEmergencyStop();
if (!waitingForCommandPrinted) {
Serial.println("Waiting for command.");
waitingForCommandPrinted = true; // Update state to prevent re-printing
}
if (Serial.available() > 0) {
handleCommand();
waitingForCommandPrinted = false; //when exiting from other functions making sure to print waiting for command again
}
//Reseting interupts flag based on state
ResettingFlagsForInterrupts();
delay(5);
}
//Reads Analog Data from the sensor
int AnalogRead(int Pinnumber) {
int RawSensorData;
RawSensorData = analogRead(Pinnumber);
if (RawSensorData >= 1020) {
return 0;
} else {
return RawSensorData;
}
}
//Converts voltage to distance
float GetDistance(int RawSensorData, String Sensor) {
float distance;
//Convert from voltage to Distance
if (RawSensorData != 0) {
distance = 135.000 - (RawSensorData / 1023.0) * (135.000 - 65.000);
return distance;
} else {
return 0;
}
}
void Step(int Dirpin, int Pulsepin, int steps, int RPM, String Direction) {
int stepsPerRevolution = 400;
float pulseRate = RPM * (stepsPerRevolution / 60);
float delayTime = 1000000 / (pulseRate); // Delay in microseconds
if (Direction.equals("CW") || Direction.equals("clockwise")) {
digitalWrite(Dirpin, HIGH);
}
else if (Direction.equals("CCW") || Direction.equals("counterclockwise")) {
digitalWrite(Dirpin, LOW);
}
for (int i = 0; i < steps; i++) {
digitalWrite(Pulsepin, HIGH);
delayMicroseconds(delayTime / 2);
digitalWrite(Pulsepin, LOW);
delayMicroseconds(delayTime / 2);
}
}
void Homemotors() {
bool Motor1Moving = true;
bool Motor2Moving = true;
bool Motor3Moving = true;
while (Motor1Moving || Motor2Moving || Motor3Moving) {
if (Motor1Moving && !LSLeftBottomPressed) {
Step(Dirpin1, Pulsepin1, 5, 500, "CCW");
} else {
Motor1Moving = false;
}
if (Motor2Moving && !LSTopRightPressed) {
Step(Dirpin2, Pulsepin2, 5, 500, "CCW");
} else {
Motor2Moving = false;
}
if (Motor3Moving && !LSRightBottom) {
Step(Dirpin3, Pulsepin3, 5, 500, "CCW");
} else {
Motor3Moving = false;
}
}
Serial.println("Homing Motors completed");
}
void Troubleshoot() {
Serial.println("ENTERING DIAGNOSTIC MODE");
while (true) {
if (!InDiagnosticmodecommandprinted) {
Serial.println("Waiting for command.");
InDiagnosticmodecommandprinted = true; // Update state to prevent re-printing
}
handleEmergencyStop();
HandleLimitSwitches();
ResettingFlagsForInterrupts();
if (Serial.available() > 0) {
Commandfromexcel = Serial.readStringUntil(10);
delay(50);
//using Switch statement to Handle various buttonpress in excel
if (Commandfromexcel == ExitCommandFromDiagnostic) {
Serial.flush();
delay(10);
Serial.println("EXITING DIAGNOSTIC MODE");
delay(10);
//before exiting the Diagnostic mode making sure every LED, Buzzer are turned off
/*
delay(10);
Serial.println("Turning Green Led OFF.");
digitalWrite(LedGreen, LOW);
*/
return;
}
else if (Commandfromexcel == LeftMotorUp) {
delay(50);
bool LeftMotorRunningUp = true;
Serial.println("LeftMotor Rotating Clockwise.");
while (LeftMotorRunningUp && !LSLeftTopPressed) {
Step(Dirpin1, Pulsepin1, 1, 150, "CW");
handleEmergencyStop();
HandleLimitSwitches();
if (Serial.available()) {
Commandfromexcel = Serial.readStringUntil(10);
if (Commandfromexcel == LeftMotorStop) {
Serial.println("Stopping LeftMotor");
LeftMotorRunningUp = false;
}
}
}
}
else if (Commandfromexcel == LeftMotorDown) {
delay(50);
bool LeftMotorRunningDown = true;
Serial.println("LeftMotor Rotating Counter clockwise");
while (LeftMotorRunningDown && !LSLeftBottomPressed) {
Step(Dirpin1, Pulsepin1, 1, 150, "CCW");
handleEmergencyStop();
HandleLimitSwitches();
if (Serial.available()) {
Commandfromexcel = Serial.readStringUntil(10);
if (Commandfromexcel == LeftMotorStop) {
Serial.println("Stopping LeftMotor");
LeftMotorRunningDown = false;
}
}
}
}
else if (Commandfromexcel == TopMotorRight) {
delay(50);
bool TopMotorRunningRight = true;
Serial.println("TopMotor Rotating Clockwise");
while (TopMotorRunningRight && digitalRead(LSTopRight) == LOW) {
Step(Dirpin2, Pulsepin2, 1, 400, "CW");
handleEmergencyStop();
HandleLimitSwitches();
if (Serial.available()) {
Commandfromexcel = Serial.readStringUntil(10);
if (Commandfromexcel == TopMotorStop) {
Serial.println("Stopping TopMotor");
TopMotorRunningRight = false;
}
}
}
}
else if (Commandfromexcel == TopMotorLeft) {
delay(50);
bool TopMotorRunningLeft = true;
Serial.println("TopMotor Rotating Counter Clockwise.");
while (TopMotorRunningLeft && digitalRead(LSTopLeft) == LOW) {
Step(Dirpin2, Pulsepin2, 400, 1, "CCW");
handleEmergencyStop();
HandleLimitSwitches();
if (Serial.available()) {
Commandfromexcel = Serial.readStringUntil(10);
if (Commandfromexcel == TopMotorStop) {
Serial.println("Stopping TopMotor");
TopMotorRunningLeft = false;
}
}
}
}
else if (Commandfromexcel == RightMotorUp) {
delay(50);
bool RightMotorRunningUp = true;
Serial.println("RightMotor Rotating Counter Clockwise");
while (RightMotorRunningUp && digitalRead(LSRightTop) == LOW) {
Step(Dirpin3, Pulsepin3, 400, 1, "CW");
handleEmergencyStop();
if (Serial.available()) {
Commandfromexcel = Serial.readStringUntil(10);
if (Commandfromexcel == RightMotorStop) {
Serial.println("Stopping Right Motor");
RightMotorRunningUp = false;
}
}
}
HandleLimitSwitches();
}
else if (Commandfromexcel == RightMotorDown) {
delay(50);
bool RightMotorRunningDown = true;
Serial.println("RightMotor Rotating Clockwise");
while (RightMotorRunningDown && digitalRead(LSRightBottom) == LOW) {
Step(Dirpin3, Pulsepin3, 200, 1, "CCW");
handleEmergencyStop();
if (Serial.available()) {
Commandfromexcel = Serial.readStringUntil(10);
if (Commandfromexcel == RightMotorStop) {
Serial.println("Stopping Right Motor");
RightMotorRunningDown = false;
}
}
}
HandleLimitSwitches();
}
else if (Commandfromexcel == GreenLEDON) {
Serial.println("Turning Green LED ON.");
digitalWrite(LedGreen, HIGH);
}
else if (Commandfromexcel == GreenLEDOFF) {
Serial.println("Turning Green Led OFF.");
digitalWrite(LedGreen, LOW);
}
else if (Commandfromexcel == LeftSesnorTestON) {
while (true) {
if (Serial.available() > 0){
Commandfromexcel = Serial.readStringUntil(10);
if (Commandfromexcel == LeftSesnorTestOFF) {
Serial.flush();
break;
}
}
else {
// int sensorData = random(25, 28);
int SensorData;
SensorData = AnalogRead(A0);
String distance1;
distance1 = GetDistance(SensorData, "left");
//Serial.println("TROUBLESHOOT SENSOR1," + String(distance1));
Serial.print("TROUBLESHOOT SENSOR1,");
Serial.println(String(distance1));
delay(200);
}
}
}
else if (Commandfromexcel == TopSensorTestON) {
while (true) {
if (Serial.available() > 0){
Commandfromexcel = Serial.readStringUntil(10);
if (Commandfromexcel == TopSesnsorTestOFF) {
Serial.flush();
break;
}
}
else {
int sensorData = random(25, 28);
Serial.println("TROUBLESHOOT SENSOR2," + String(sensorData));
delay(200);
}
}
}
else if (Commandfromexcel == RightSensorTestON) {
while (true) {
if (Serial.available() > 0) {
Commandfromexcel = Serial.readStringUntil(10);
if (Commandfromexcel == RightSensorTestOFF) {
Serial.flush();
break;
}
}
else {
int sensorData = random(25, 28);
Serial.println("TROUBLESHOOT SENSOR3," + String(sensorData));
delay(200);
}
}
}
//
}
}
}
void ResetController() {
delay(10);
Serial.println("Resetting Controller.. Please Wait 5 Seconds before proceding.");
delay(500);
wdt_enable(WDTO_15MS); // Trigger a watchdog reset
while (1);
}
void handleCommand() {
Commandfromexcel = Serial.readStringUntil(10);
if (Commandfromexcel == Startcommand) {
Scan_Start();
} else if (Commandfromexcel == HomeCommand) {
Homemotors();
} else if (Commandfromexcel == TroubleShootcommand) {
Troubleshoot();
} else if (Commandfromexcel == ResetControllerCommand) {
ResetController();
} else if (Commandfromexcel == Resetvoidloop) {
return;
}
}
bool handleEmergencyStop() {
static bool emergencyTriggered = false;
if (digitalRead(emergencycuttoffpin) == LOW) {
if (!emergencyTriggered) {
delay(5);
Serial.println("EMERGENCY ACTIVATED"); // Send only once
emergencyTriggered = true;
}
return true;
}
else {
if (emergencyTriggered) {
delay(5);
Serial.println("EMERGENCY DEACTIVATED"); // Optional: Send when deactivated
emergencyTriggered = false;
waitingForCommandPrinted = false;
}
return false;
}
}
void Scan_Start() {
delay(200);
//Boolean commands for stopping the scan process
bool Motor1ScanStatus = false;
bool Motor2ScanStatus = false;
bool Motor3ScanStatus = false;
delay(10);
Serial.println("SCANNING STARTED");
for (int scaniteration = 0; scaniteration <= 2000; scaniteration++) {
if (handleEmergencyStop()) {
delay(10);
Serial.println("SCANNING STOPPED");
return;
}
if (Serial.available() > 0) {
Commandfromexcel = Serial.readStringUntil(10);
if (Commandfromexcel == Stopcommand) {
delay(10);
Serial.println("SCANNING STOPPED");
delay(10);
return;
}
}
if (!LSLeftTopPressed) {
moveStepper(Dirpin1, Pulsepin1, 10);
RawSensorData1 = AnalogRead(SensorLeft);
Distance1 = GetDistance(RawSensorData1, "LEFT");
}
if (!LSTopRightPressed) {
moveStepper(Dirpin2, Pulsepin2, 10);
RawSensorData3 = AnalogRead(SensorLeft);
Distance3 = GetDistance(RawSensorData3, "RIGHT");
}
if (!LSRightTopPressed) {
moveStepper(Dirpin3, Pulsepin3, 10);
RawSensorData3 = AnalogRead(SensorLeft);
Distance3 = GetDistance(RawSensorData3, "RIGHT");
}
Serial.println((String) "DATA," + Distance1 + "," + Distance2 + "," + Distance3);
if (LSLeftTopPressed && LSTopRightPressed && LSRightTopPressed) {
Serial.println("SCANNING COMPLETED");
delay(10);
return;
}
}
}
void HandleLimitSwitches() {
// Check if the switch was pressed and only print if the state changed
unsigned long currentMillis = millis();
if (LSLeftTopPressed && prev_LSLeftTop == LOW) {
Serial.println("LSLTON");
prev_LSLeftTop = HIGH;
}
if (LSLeftBottomPressed && prev_LSLeftBottom == LOW) {
Serial.println("LSLBON");
prev_LSLeftBottom = HIGH;
}
if (LSTopLeftPressed && prev_LSTopLeft == LOW) {
Serial.println("LSTL ON");
prev_LSTopLeft = HIGH;
}
if (LSTopRightPressed && prev_LSTopRight == LOW) {
Serial.println("LSTRON");
prev_LSTopRight = HIGH;
}
if (LSRightTopPressed && prev_LSRightTop == LOW) {
Serial.println("LSRTON");
prev_LSRightTop = HIGH;
}
if (LSRightBottomPressed && prev_LSRightBottom == LOW) {
Serial.println("LSRBON");
prev_LSRightBottom = HIGH;
}
if (digitalRead(LSLeftTop) == LOW && prev_LSLeftTop == HIGH) {
Serial.println("LSLTOFF");
prev_LSLeftTop = LOW;
}
if (digitalRead(LSLeftBottom) == LOW && prev_LSLeftBottom == HIGH) {
Serial.println("LSLBOFF");
prev_LSLeftBottom = LOW;
}
if (digitalRead(LSTopLeft) == LOW && prev_LSTopLeft == HIGH) {
Serial.println("LSTLOFF");
prev_LSTopLeft = LOW;
}
if (digitalRead(LSTopRight) == LOW && prev_LSTopRight == HIGH) {
Serial.println("LSTROFF");
prev_LSTopRight = LOW;
}
if (digitalRead(LSRightTop) == LOW && prev_LSRightTop == HIGH) {
Serial.println("LSRTOFF");
prev_LSRightTop = LOW;
}
if (digitalRead(LSRightBottom) == LOW && prev_LSRightBottom == HIGH) {
Serial.println("LSRBOFF");
prev_LSRightBottom = LOW;
}
// Reset interrupt flags after processing
ResettingFlagsForInterrupts();
}
void moveStepper(int dirPin, int pulsePin, int steps) {
digitalWrite(dirPin, HIGH);
for (int i = 0; i < steps; i++) {
digitalWrite(pulsePin, HIGH);
delayMicroseconds(50);
// Adjust for smooth motion
digitalWrite(pulsePin, LOW);
delayMicroseconds(50);
}
}
void ResettingFlagsForInterrupts() {
if (digitalRead(LSLeftTop) == LOW) {
LSLeftTopPressed = false; // Reset flag when switch is released
}
if (digitalRead(LSLeftBottom) == LOW) {
LSLeftBottomPressed = false; // Reset flag when switch is released
}
if (digitalRead(LSTopLeft) == LOW) {
LSTopLeftPressed = false; // Reset flag when switch is released
}
if (digitalRead(LSTopRight) == LOW) {
LSTopRightPressed = false; // Reset flag when switch is released
}
if (digitalRead(LSRightTop) == LOW) {
LSRightTopPressed = false; // Reset flag when switch is released
}
if (digitalRead(LSRightBottom) == LOW) {
LSRightBottomPressed = false; // Reset flag when switch is released
}
}
