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#include <Wire.h> #include <Servo.h>

#define DEBUG 0 #define LOWERLIMIT 400 #define UPPERLIMIT 650 #define COUNTLIMIT 2 #define OUTPIN 12 #define SETUPPIN 13

Servo turret; Servo outServo; byte sensor_address = 0xd0; int PIRREAD[4][5]; int PIR[4]; byte index = 0; byte currentState = 4; byte currentServo = 90; void setup() { turret.attach(9); attaches the servo on pin 9 to the servo object

turret.write(90);

outServo.attach(10); outServo.write(90);

Wire.begin();
Serial.begin(9600);

pinMode(OUTPIN, OUTPUT);

pinMode(SETUPPIN, OUTPUT);

digitalWrite(SETUPPIN, HIGH); delay(10000); digitalWrite(SETUPPIN, LOW);

for(int i=0; i<6; i++) {
  PIRREAD[0][i] = analogRead(0);
  PIRREAD[1][i] = analogRead(1);
  PIRREAD[2][i] = analogRead(2);
  PIRREAD[3][i] = analogRead(3);
}
delay(1000);

}

void loop() {

 byte decision;
 int retVal =0;
int initVal = 90;

recordPIR();

 
 decision = 4;
 if(PIR[0] > UPPERLIMIT || PIR[0] < LOWERLIMIT) {
   if(DEBUG) Serial.println("main loop 0");
   decision = stateZeroHit(0,currentState);
 }
 else if(PIR[1] > UPPERLIMIT || PIR[1] < LOWERLIMIT) {
   if(DEBUG) Serial.println("main loop 1");
   decision = stateOneHit(1,currentState);
 }
 else if(PIR[2] > UPPERLIMIT || PIR[2] < LOWERLIMIT) {
   if(DEBUG) Serial.println("main loop 2");
   decision = stateTwoHit(2,currentState);
 }
 else if(PIR[3] > UPPERLIMIT || PIR[3] < LOWERLIMIT) {
   if(DEBUG) Serial.println("main loop 3");
   decision = stateThreeHit(3,currentState);
 }
 

  if(decision < 4) {
    if(DEBUG) Serial.println(PIR[decision]);
    
    /*
    if(abs(initVal-currentServo) > 5) {
      outServo.write(initVal);
      currentServo = initVal;
    }
    */
    //outServo.write(110);
    
    retVal = recordThermo(decision);
    
    if(retVal < 200)
    {
      //c = (int)floor(sqrt(11600-8000*(cos((90+retVal)*2*PI/180))));
      
      //beta = (int)floor((90 - acos((-8400+c*c)/80*c)));
      //outServo.write(retVal);
      
      
      float c1, alpha;
      float final;
      
      if(retVal >90) {
        c1 = sqrt(10900.0 - (6000.0*(cos((270.0 - retVal)*PI/180.0))));
        alpha = (-9100.0+(c1*c1))/(60.0*c1);
        final = ((acos(alpha)*180/PI)+ 90);
      }
      else if (retVal <90) {
        c1 = sqrt(10900.0 - (6000.0*(cos((90 + retVal)*PI/180.0))));
        alpha = (-9100.0+(c1*c1))/(60.0*c1);
        final =(90.0-(acos(alpha)*180.0/PI));
      }
      else {
        final = 90.0;
      }
      

      
    // float final = retVal;
      if(final < 0)
        final = 0.0;
      if(final > 180)
        final = 180.0;
      Serial.print("Final: ");
      Serial.println((int)floor(final*100));      
      moveTV((int)floor(final));
    }
    currentState = decision;
    
  }
 delay(50); 

}

int recordThermo(byte sector) {

byte pos;
byte heat[9];
  
switch(sector){
  case 0:
    pos = 10;
    break;
  case 1:
    pos = 60;
    break;
  case 2:
    pos = 120;
    break;
  case 3:
    pos = 170;
    break;
}


turret.write((int)pos);
if(DEBUG) Serial.print("scanning sector ");
if(DEBUG) Serial.println((int)sector);
delay(500);

int i=0;
int wsum = 0;
int sum = 0;
 
 for(i=1; i<=9; i++)
 {
    Wire.beginTransmission(sensor_address>>1);
    Wire.send(i);
    Wire.endTransmission();

Wire.requestFrom(sensor_address»1, (int) 1);

    while(Wire.available() < 1)
    { ; }

heat[i-1] = Wire.receive(); receive a byte as character } for(i = 1; i<9; i++) { heat[i]-=heat[0]; if(heat[i] > 100) heat[i] = 0; else if(heat[i] < 3) heat[i] = 0; sum+=heat[i]; wsum+=heat[i]*i; if(DEBUG) Serial.print(heat[i], DEC); if(DEBUG) Serial.print(“ ”); } float div = wsum/sum; int val = (int) round(div); if(DEBUG) Serial.println(“”); if(DEBUG) Serial.println(val); if(div > 0) { int newval = pos - (int)floor(5*(div-4)); Serial.print(“TPA Val: ”); Serial.println(newval); return newval; } return 200; } byte stateZeroHit(byte detected, byte lastState) { if(DEBUG) Serial.println(“hit state 0”); byte count = 0; if(lastState != 1) { while(count < COUNTLIMIT && detected == 0) { recordPIR(); if(PIR[1] > UPPERLIMIT || PIR[1] < LOWERLIMIT) { detected = 1; detected = stateOneHit(detected, 0); } count++; } } return detected; } byte stateOneHit(byte detected, byte lastState) { if(DEBUG) Serial.println(“hit state 1”); byte count = 0; if(lastState == 0) { while(count < COUNTLIMIT && detected == 1) { recordPIR(); if(PIR[2] > UPPERLIMIT || PIR[2] < LOWERLIMIT) { detected = 2; detected = stateTwoHit(detected, 1); } count++; } } else if(lastState == 2) { while(count < COUNTLIMIT && detected == 1) { if(PIR[0] > UPPERLIMIT || PIR[0] < LOWERLIMIT) { detected = 0; detected = stateZeroHit(detected, 1); } else recordPIR(); count++; } } return detected; } byte stateTwoHit(byte detected, byte lastState) { if(DEBUG) Serial.println(“hit state 2”); byte count = 0; if(lastState == 1) { while(count <COUNTLIMIT && detected == 2) { recordPIR(); if(PIR[3] > UPPERLIMIT || PIR[3] < LOWERLIMIT) { detected = 3; detected = stateThreeHit(detected, 2); } count++; } } else if(lastState == 3) { while(count < COUNTLIMIT && detected == 2) { recordPIR(); if(PIR[1] > UPPERLIMIT || PIR[1] < LOWERLIMIT) { detected = 1; detected = stateTwoHit(detected, 2); } count++; } } return detected; } byte stateThreeHit(byte detected, byte lastState) { if(DEBUG) Serial.println(“hit state 3”); byte count = 0; if(lastState != 2) { while(count < COUNTLIMIT && detected == 3) { recordPIR(); if(PIR[2] > UPPERLIMIT || PIR[2] < LOWERLIMIT) { detected = 2; detected = stateTwoHit(detected, 3); } count++; } } return detected; } void moveTV(int pos) { float newPos = pos; int inDelays = (int)floor(1300.0 + (400.0*newPos/180.0)); Serial.println(inDelays);

digitalWrite(OUTPIN, HIGH);
delayMicroseconds(inDelays);
digitalWrite(OUTPIN, LOW);

}

void recordPIR() {

int count, currentval;
  PIRREAD[0][index] = analogRead(0);
  delay(5);
  PIRREAD[1][index] = analogRead(1);
  delay(5);
  PIRREAD[2][index] = analogRead(2);
  delay(5);
  PIRREAD[3][index] = analogRead(3);

for each sensor for (int i = 0; i<4; i++) { for each index in the sensor

  for(int m = 0; m<5; m++) {
    currentval = PIRREAD[i][m];
    count = 0;
    for(int q = 0; q<5; q++) {
      if(currentval >= PIRREAD[i][q])
        count++;
    }
    
    if (count == 3) {
      PIR[i]=PIRREAD[i][m];
      m=20;
    }
    
  }
}
index++;
  
if(index >=5)
  index = 0;

}

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