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Ardu_code/xylcd.ino

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+#include <Servo.h>
+#include <Wire.h>
+#include <LiquidCrystal_I2C.h>
+
+// declare pins for digital input from the RASPBERRY PI
+/*/int x_up_pin = 2;
+int x_down_pin = 3 ;
+int y_up_pin = 4;
+int y_down_pin = 5 ;/*/
+// declare pins for servo output
+int servo_x_Pin = 9;
+int servo_y_Pin = 10;
+// declare flag pin to send digital output to the RASPBERRY PI
+//int signal_pin = 12;
+// declare 2 servos to control the degrees of freedom of the XY Stage
+Servo servo_x;
+Servo servo_y;
+
+/* Set the LCD address to 0x27 for a 16 chars and 2 lines display */
+LiquidCrystal_I2C lcd(0x27, 16, 2);
+
+// set up the default position of the servos: in the middle
+int servo_x_Angle = 90;
+int servo_y_Angle = 90;
+
+// actuation flag: not moving
+int actuating = false;
+int moving_x = 0;
+int moving_y = 0;
+// Joystick sensitivity
+int threshold = 64;
+// Analog input pins for Joystick XY values
+int JoyStick_X =0;// pin number for x
+int JoyStick_Y =1;// pin number for y
+void setup()
+{
+// communicate to RASPBERRY if actuating a stage move or listening
+//pinMode(signal_pin, OUTPUT); // to send 1 bit message to pi
+//digitalWrite(signal_pin, LOW);// not actuating
+// prepare the servos
+Serial.begin(9600);// 9600 bps
+servo_x.attach(servo_x_Pin);
+servo_y.attach(servo_y_Pin);
+// prepare the LCD
+lcd.init();
+// Turn on the blacklight and print a message.
+lcd.backlight();
+lcd.setCursor(0,0);
+lcd.print("OpenStage");
+// position at the center of the scanning area (x,y)=(90,90)
+servo_x.write(servo_x_Angle);
+servo_y.write(servo_y_Angle);
+// RASPBERRY communication pins (4 bits)
+/*/pinMode(x_up_pin, INPUT); // GUI button x.step-up
+pinMode(x_down_pin, INPUT); // GUI button x.step-down
+pinMode(y_up_pin, INPUT); // GUI button y.step-up
+pinMode(y_down_pin, INPUT); // GUI button y.step-down
+delay(50);/*/
+}
+void loop()
+{
+// X movement (signal detection)
+// x.up
+if(analogRead(JoyStick_X) > (512 + threshold) && actuating == false)
+                           //|| (digitalRead(x_up_pin)== HIGH && actuating == false))
+            {
+            if(servo_x_Angle < 180) servo_x_Angle++;
+            actuating = true;
+            }
+//x.down
+if(analogRead(JoyStick_X) < (512 - threshold) && actuating==false)
+                           //||(digitalRead(x_down_pin)== HIGH && actuating == false))
+           {
+           if(servo_x_Angle > 0)servo_x_Angle--;
+           actuating = true;
+           }
+// Y movement (signal detection)
+//y.up
+if(analogRead(JoyStick_Y) > (512 + threshold)&& actuating==false)
+                           //||(digitalRead(y_up_pin)== HIGH && actuating==false))
+           {
+           if(servo_y_Angle < 180) servo_y_Angle++;
+           actuating= true;
+           }
+//y.down
+if(analogRead(JoyStick_Y) < (512 - threshold)&& actuating==false)
+                           //||(digitalRead(y_down_pin)== HIGH && actuating==false))
+           {
+           if(servo_y_Angle > 0) servo_y_Angle--;
+           actuating = true;
+           }
+// Move
+if(actuating == true )
+           {
+           //digitalWrite(signal_pin, HIGH);  // actuating
+           servo_x.write(servo_x_Angle);
+           servo_y.write(servo_y_Angle);
+           delay(50);
+           actuating = false;
+           //digitalWrite(signal_pin, LOW);  // not actuating
+           }
+
+
+lcd.setCursor(0,1);
+lcd.print("position:");
+lcd.print(servo_x_Angle); 
+lcd.print(",");
+lcd.print(servo_y_Angle); 
+lcd.print("    ");
+delay(50);
+}