DIY Thrust Station

#include <Servo.h>
#include <OneWire.h>
#include <DallasTemperature.h>
#include <Wire.h>
#include <LiquidCrystal_I2C.h>
#include <HX711.h>
#include "Streaming.h"

//#define PYTHON
#define SERIAL


//switches and others:
#define switch_1 12
#define switch_2 11
boolean state_1;
boolean state_2;
boolean setValues = false;
uint8_t mode;


//esc:
#define pwm_min 900
#define pwm_max 2100
#define pot A0
#define esc_signal 4
Servo esc;
int val;


//load cell
HX711 scale;
#define data 5
#define sck 6
#define gain 128
float thrust;


//temperature:
#define ONE_WIRE_BUS 10
OneWire oneWire(ONE_WIRE_BUS);
DallasTemperature dallas(&oneWire);


//lcd
LiquidCrystal_I2C lcd(0x3F, 20, 4);


//multimeter
#define voltmeter A6
#define acs A7
float acs_read;
int acs_offset = 0;
float amp;
float volt;
float watt;
//float watth todo

void setup() {

  Serial.begin(115200);

  lcd.init();
  lcd.backlight();
  lcd.clear();

  esc.attach(esc_signal, pwm_min, pwm_max);

  //temperature sensors
  dallas.begin();
  dallas.setResolution(10);           //default 12, decrease it for speed
  dallas.setWaitForConversion(false); //no blocking calculation

  //thrust
  scale.begin(data, sck, gain);
  scale.set_scale(1009.5);        //check the libray
  scale.tare();

  //auto-manual mode
  pinMode (switch_1, INPUT_PULLUP);
  pinMode (switch_2, INPUT_PULLUP);

  chooseMode();
  delay(1500);
  lcd.clear();

}


void chooseMode() {
  lcd.setCursor(0, 0); lcd.print (F("Thrust Station"));
  lcd.setCursor(0, 1); lcd.print (F("Choose Mode"));
  lcd.setCursor(0, 2); lcd.print (F("I: Auto"));
  lcd.setCursor(0, 3); lcd.print (F("II: Manual"));

  delay(2000);

  while (state_1 == 0 && state_2 == 0) {

    //wait until the mode is selected
    state_1 = !digitalRead(switch_1);
    state_2 = !digitalRead(switch_2);

  }

  lcd.clear();

  if (state_1) {
    mode = 1;
    lcd.setCursor(6, 0);
    lcd.print (F("AUTO MODE"));
    val = pwm_min;
  }

  else if (state_2) {
    mode = 2;
    lcd.setCursor(4, 0);
    lcd.print (F("MANUAL MODE"));
  }
}


void loop() {

  getTemp();
  getThrust();
  getMultimeter();

#ifdef SERIAL
  Serial << "PWM:\t" << (val) << newl;
  Serial << "Thrust:\t" << (thrust) << newl;
  Serial << "Current:\t" << (amp) << newl;
  Serial << "Volt:\t" << (volt) << newl;
  Serial << "Watt:\t" << (watt) << newl;
  Serial << "Temp:\t" << (dallas.getTempC(0)) << newl << newl;
  delay(50);
#endif

  if (mode == 1) {
    autoMode();
  } else {
    manualMode();
  }
}


void autoMode() {

  if (setValues == false) {

    lcd.setCursor(3, 1);
    lcd.print (F("Your data are"));
    lcd.setCursor(5, 2);
    lcd.print (F("on the PC"));
    setValues = true;

  }

  esc.writeMicroseconds(val);
  val += 10;

  //data to processing

  Serial.print(val); Serial.print(":");
  Serial.print(thrust); Serial.print(":");
  Serial.print(amp); Serial.print(":");
  Serial.print(volt); Serial.print(":");
  Serial.print(watt); Serial.print(":");
  Serial.print(dallas.getTemp(0));
  Serial.println("");

  delay(50);

  if (val >= pwm_max) {

    esc.writeMicroseconds(pwm_min); //disarm esc

    lcd.clear();
    lcd.setCursor (3, 1);
    lcd.print (F("Test Completed"));
    lcd.setCursor (5, 2);
    lcd.print (F("Thank you"));
    lcd.setCursor (0, 2);

    while (1) ; //block

  }
}


void manualMode() {

  val = analogRead(pot);
  val = map (val, 0, 1023, pwm_min, pwm_max);
  esc.writeMicroseconds(val);

  if (val <= pwm_min + 50) {
    scale.tare();
  }

  if (setValues == false) {
    // write only once in the screen the names and prefix of the values

    lcd.setCursor(0, 0);
    lcd.print(F("PWM:"));

    lcd.setCursor(0, 1);
    lcd.print(F("Thrust:"));

    lcd.setCursor(4, 2);
    lcd.print(F("V"));

    lcd.setCursor(12, 2);
    lcd.print(F("A"));

    lcd.setCursor(19, 2);
    lcd.print(F("W"));

    lcd.setCursor(0, 3);
    lcd.print(F("ESC:"));

    lcd.setCursor(8, 3);
    lcd.print(F("C  Mot:"));

    lcd.setCursor(19, 3);
    lcd.print(F("C"));

    setValues = true;
  }

  //now write for every loop the values
  lcd.setCursor(4, 0);
  lcd.print(val);
  if (val < 1000) lcd.print(" ");

  lcd.setCursor(7, 1);
  lcd.print(-thrust);

  lcd.setCursor(0, 2);
  lcd.print(volt);

  lcd.setCursor(7, 2);
  lcd.print(amp);

  lcd.setCursor(14, 2);
  lcd.print(watt);

  lcd.setCursor(4, 3);
  lcd.print(dallas.getTempCByIndex(0), 1);

  lcd.setCursor(15, 3);
  lcd.print(dallas.getTempCByIndex(1), 1);

#ifdef PYTHON
  Serial  << val << ":" << thrust << ":" << amp << ":" << volt << ":" << watt << ":" << dallas.getTemp(0) << newl;
  delay(50);
#endif

}


void getTemp() {
  dallas.requestTemperatures();
  // the calculation are performed in the background
}



void getMultimeter() {

  //volt
  volt = (analogRead(voltmeter) / 1024.0) * 10.0;

  //ampere
  while (acs_offset == 0) {
    for (int i = 0; i < 10; i++) {
      acs_offset += analogRead(acs);
    }
    acs_offset /= 10; //create the offset
  }
  acs_read = analogRead(acs);
  amp = abs((acs_read - acs_offset) / 17.06);

  //watt
  watt = volt * amp;

  //watt/h todo

}


void getThrust() {
  thrust = scale.get_units(3);  //average of tree measurements
}