/****************************************************************
 * Author: Ittichote Chuckpaiwong
 * Date: August 2, 2009
 * Filename: ex8_1.pde
 * CPU: AVR ATmega168
 * Oscillator: HT 19.6608MHz
 * Compiler: Arduino
 * Hardware Config:
 * - Connect the IDC10/14 connector between port Digital[0..7] and "LCD" connector
 * - Connect the IDC10/14 connector between port Digital[8..13] and "DC-MOTOR" connector
 * - Push the switch "CTRL/TEST" to CTRL
 * Function:
 * - This program rotates the motor until the sensor (digital 8) reads 1000 counts (500 rev)
 * - Note that this program uses polling for simplicity, however, some variables cannot
 *   be updated continuously. A more practical approach is to use interrupt.
 *****************************************************************/

#define OPTO1 8  // Input from opto sensor #1
#define OPTO2 9  // Input from opto sensor #2
#define DIR1 12  // Output #1 to set motor direction
#define DIR2 13  // Output #2 to set motor direction

#include <LiquidCrystal.h>  // Include LCD function library

// LiquidCrystal display with:
// RS on pin 0
// RW on pin 1
// ENABLE on pin 2
// DATA: D0, D1, D2, D3 on pins 4, 5, 6, 7
LiquidCrystal lcd(0, 1, 2, 4, 5, 6, 7);

char text[16];
int count=0;

void setup()
{
  pinMode(OPTO1, INPUT);      // Set port as input
  pinMode(OPTO2, INPUT);      // Set port as input
  pinMode(DIR1, OUTPUT);      // Set port as output
  pinMode(DIR2, OUTPUT);      // Set port as output

  // Enable pull-up resistors on input ports
  digitalWrite(OPTO1, HIGH);
  digitalWrite(OPTO2, HIGH);

  // Set direction of rotation
  digitalWrite(DIR1, LOW); 
  digitalWrite(DIR2, HIGH);

  lcd.clear();  // Clear the LCD display
}

void loop()
{
  lcd.setCursor(0,0);     // Move the cursor to home position
  lcd.print("CNT:");	  // Print text to LCD
  lcd.print(count, DEC);  // Print number to LCD
  lcd.print(",OPTO:XX");  // Print text to LCD

  while (digitalRead(OPTO1) == HIGH);	// Wait for the sensor to be hit
  count++;	// Count up
  while (digitalRead(OPTO1) == LOW);	// Wait for the sensor to be clear
  if (count >= 1000) digitalWrite(DIR2, LOW); // Stop the motor
}