###### tags: `Arduino`
# 溫感整合stepo
using ATmega2560

#include <Unistep2.h>
//IN1, IN2, IN3, IN4, 總step數(一圈), 每步的延遲(in micros)
//水平
Unistep2 stepper1(22, 24, 26, 28, 4096, 1000);
Unistep2 stepper2(23, 25, 27, 29, 4096, 1000);
//垂直
Unistep2 stepper3(40, 42, 44, 46, 4096, 1000);
Unistep2 stepper4(41, 43, 45, 47, 4096, 1000);
int hight = 0;

//溫感設定
#include "DHT.h"
#define DTpin 2
#define DHTTYPE DHT22
DHT dht(DTpin,DHTTYPE);

//lcd設定
#include<Wire.h>
#include<LiquidCrystal_I2C.h>
LiquidCrystal_I2C lcd(0x27, 20, 4);

const int button[4] = {3,4,5,6};     //左,右,上,下控制按鈕
const int ledr = 11, ledy = 10, ledg = 9;  //紅黃綠燈
const int buz = 13;     //蜂鳴器

void setup(){
  Serial.begin(9600);
  dht.begin();
  
  for(int i=3;i<7;i++){
    pinMode(i,INPUT);
  }
  
  for(int i=7;i<=53;i++){
    pinMode(i,OUTPUT);
  }

  lcd.init();
  lcd.backlight();
  lcd.setCursor(0,0);
  lcd.print("start");
  delay(1000);
  lcd.clear();
}

void loop(){
  
  stepper1.run();  //步進機啟動
  stepper2.run();
  stepper3.run();
  stepper4.run();
  
  delay(1000);
  float h = dht.readHumidity();
  float t = dht.readTemperature();
  /*if (isnan(h) || isnan(t) ) {
    Serial.println(F("感測器讀取失敗"));
    return;
  }*/

  Serial.print("濕度: ");
  Serial.print(h);
  Serial.print("% 溫度: ");
  Serial.print(t);
  Serial.print("°C");
  Serial.println();

  lcd.clear();
  lcd.setCursor(0,0);
  lcd.print("T:");lcd.print(t);lcd.print((char) 0xDF);
  lcd.print("C") ;        //顯示度C的那個度的符號
  lcd.setCursor(0,1);
  lcd.print("H:");lcd.print(h);lcd.print("%");
  
  if(t>=40){           //紅燈亮
    digitalWrite(ledr,1);
    digitalWrite(ledy,0);
    digitalWrite(ledg,0);
    lcd.setCursor(1,0);
    lcd.print("Temp Alarming");
    for(int i=0;i<20;i++){   //i上限是蜂鳴器次數
      tone(13, 440);
      delay(25);
      noTone(13);  // 停止播放
      delay(25);
    }
  }else if(t>=35){     //黃燈亮
    digitalWrite(ledr,0);
    digitalWrite(ledy,1);
    digitalWrite(ledg,0);
  }else{               //綠燈亮
    digitalWrite(ledr,0);
    digitalWrite(ledy,0);
    digitalWrite(ledg,1);
  }
--------
  if(Serial.available()){
    char a = Serial.read();
    if(a == "L"){  //預設為左
    Serial.println('L');
    if ( stepper1.stepsToGo() == 0 && stepper2.stepsToGo() == 0){ // 如果stepsToGo=0，表示步進馬達已轉完應走的step了
        stepper1.move(cal(1));      //水平移動  預設1cm 在1秒內轉
        stepper2.move(cal(-1));
      }
    }

  else if(a == "R"){  //預設為右
    Serial.println('R');
    if ( stepper1.stepsToGo() == 0 && stepper2.stepsToGo() == 0){ // 如果stepsToGo=0，表示步進馬達已轉完應走的step了
        stepper1.move(cal(-1));      //水平移動  預設1cm 在1秒內轉
        stepper2.move(cal(1));
      }
    }

  else if(a == "U"){  //上
    Serial.println('U');
    if ( stepper3.stepsToGo() == 0 && stepper4.stepsToGo() == 0){ // 如果stepsToGo=0，表示步進馬達已轉完應走的step了
        stepper3.move(cal(1));      //水平移動  預設1cm 在1秒內轉
        stepper4.move(cal(1));
      }
    }

  else if(a == "D"){  //下
    Serial.println('D');
    if ( stepper3.stepsToGo() == 0 && stepper4.stepsToGo() == 0){ // 如果stepsToGo=0，表示步進馬達已轉完應走的step了
        stepper3.move(cal(-1));      //水平移動  預設1cm 在1秒內轉
        stepper4.move(cal(-1));
      }
    }
  }



  if(digitalRead(button[0])==1){  //預設為左
    Serial.println('L');
    if ( stepper1.stepsToGo() == 0 && stepper2.stepsToGo() == 0){ // 如果stepsToGo=0，表示步進馬達已轉完應走的step了
      stepper1.move(cal(1));      //水平移動  預設1cm 在1秒內轉
      stepper2.move(cal(-1));
    }
  }

  if(digitalRead(button[1])==1){  //預設為右
    Serial.println('R');
    if ( stepper1.stepsToGo() == 0 && stepper2.stepsToGo() == 0){ // 如果stepsToGo=0，表示步進馬達已轉完應走的step了
      stepper1.move(cal(-1));      //水平移動  預設1cm 在1秒內轉
      stepper2.move(cal(1));
    }
  }

  if(digitalRead(button[2])==1){  //上
    Serial.println('U');
    if ( stepper3.stepsToGo() == 0 && stepper4.stepsToGo() == 0){ // 如果stepsToGo=0，表示步進馬達已轉完應走的step了
      stepper3.move(cal(1));      //水平移動  預設1cm 在1秒內轉
      stepper4.move(cal(1));
    }
  }

  if(digitalRead(button[3])==1){  //下
    Serial.println('D');
    if ( stepper3.stepsToGo() == 0 && stepper4.stepsToGo() == 0){ // 如果stepsToGo=0，表示步進馬達已轉完應走的step了
      stepper3.move(cal(-1));      //水平移動  預設1cm 在1秒內轉
      stepper4.move(cal(-1));
    }
  }
  
  

  
}

int cal(int n){  //垂直  n -> cm
  return n*4096;     //4096 = 比例
}
}