/*
|| -NYCCNC Automitic Rubber Strip Egress (A.R.S.E.)
|| -version 1.1
|| -author Ed Rees
|| -www.nyccnc.com
|| -10/30/2018
||
|| This program is free software: you can redistribute it and/or modify
|| it under the terms of the GNU General Public License as published by
|| the Free Software Foundation, either version 3 of the License, or
|| (at your option) any later version.
||
|| This program is distributed in the hope that it will be useful,
|| but WITHOUT ANY WARRANTY; without even the implied warranty of
|| MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|| GNU General Public License for more details.
||
|| You should have received a copy of the GNU General Public License
|| along with this program. If not, see <http://www.gnu.org/licenses/>.
*/

#include // included with Arduino IDE.
#include // pololu library for VL53L0X sensor. Available at: https://github.com/pololu/vl53l0x-arduino
#include <avr/wdt.h> // included with Arduino IDE.

VL53L0X sensor; // time-of-flight (LIDAR) person sensor 1.
VL53L0X sensor2; // time-of-flight (LIDAR) person sensor 2.
const int openRelay = 2; // pin 2 controls DOOR OPEN relay.
const int closeRelay = 3; // pin 3 controls DOOR CLOSE relay.
const int sensorRange = 3000; // shop side sensor range (mm).
const int sensor2Range = 3000; // office side sensor range (mm).
bool sense = true; // should sensors check for a person?
bool Open = false; // open door?
bool Close = false; // close door?
int closeTimer = 200; // time that door stays open. (1 = ~100ms)

void(* resetFunc) (void) = 0; //declare reset function @ address 0

void setup()
{
pinMode(openRelay, OUTPUT); // initialize open relay pin as output.
pinMode(closeRelay, OUTPUT); // initialize close relay pin as output.
digitalWrite(openRelay, HIGH); // set open relay HIGH to keep it closed on start.
digitalWrite(closeRelay, HIGH); // set close relay HIGH to keep it closed on start.

pinMode(4, OUTPUT); // initialize sensor 1 reset pin as output.
pinMode(5, OUTPUT); // initialize sensor 2 reset pin as output.
digitalWrite(4, LOW); // set sensor 1 reset pin LOW.
digitalWrite(5, LOW); // set sensor 2 reset pin LOW.

delay(50); // delay 50mS
Wire.begin();
Serial.begin(9600);

pinMode(4, INPUT); // set sensor 1 reset pin LOW.
sensor.init(true); // initialize sensor 1.
sensor.setAddress((uint8_t)22); // set i2c address of sensor 1.

pinMode(5, INPUT); // set sensor 2 reset pin LOW.
sensor2.init(true); // initialize sensor 2.
sensor2.setAddress((uint8_t)26); // set i2c address of sensor 2. //we need to change the i2c address of the second sensor in order to support the use of multiple sensors

sensor.init(); // reinitialize sensor 1 with new i2c address.
sensor.setTimeout(0); // set sensor timeout mS (0 = disabled).
sensor.startContinuous(100); // begin sensing at 100mS intervals.

sensor2.init(); // reinitialize sensor 2 with new i2c address.
sensor2.setTimeout(0); // set sensor timeout mS (0 = disabled).
sensor2.startContinuous(100); // begin sensing at 100mS intervals.

}

void loop()
{

// stop sensing and begin door open/close cycle if a person is sensed. This loop sets itsself false, so it only runs once per cycle.
if (sense && (sensor.readRangeContinuousMillimeters() <= sensorRange || sensor2.readRangeContinuousMillimeters() <= sensor2Range)) { sense = false; Open = true; } // If statement to Open ARSE. //This loop sets itself false, so it only runs once per cycle. if (Open) { Open = false; digitalWrite(openRelay, LOW); // activate DOOR OPEN valve. delay(600); // delay for pneumatic cylinder action. digitalWrite(openRelay, HIGH); // deactivate DOOR OPEN valve Close = true; } // If statement to close ARSE when a person is no longer sensed. //This loop sets itsself false, so it only runs once per cycle. if (Close && sensor.readRangeContinuousMillimeters() >= sensorRange && sensor2.readRangeContinuousMillimeters() >= sensor2Range)
{
Close = false;
while (closeTimer >= 1)
{
if (((sensor.readRangeContinuousMillimeters() <= sensorRange || sensor2.readRangeContinuousMillimeters() <= sensor2Range)) && closeTimer <= 200)
{
closeTimer = 200;
}
closeTimer -= 1;
Serial.println(closeTimer);
}
digitalWrite(closeRelay, LOW); // activate DOOR CLOSE valve.
delay(2000); // delay for pneumatic cylinder action.
digitalWrite(closeRelay, HIGH); // deactivate DOOR CLOSE valve.
resetFunc(); // relay noise frequently disrupts sensor transmission, so we reset at the end of every cycle. Requires a few seconds to reset; increases long term reliability.
}
}