Tiller Pilot for Yacht

1//TillerPilot 04/05/2019
2//Buttons wired to A8 A9 and A10
3//LED  wired D5
4//Relay wired from IN1 to A0 and IN2 to A1
5//Compass SDA to A4 &  SCL to A5
6#include <Wire.h>
7#include <Adafruit_Sensor.h>
8#include <Adafruit_LSM303_U.h>
9Adafruit_LSM303_Mag_Unified  mag = Adafruit_LSM303_Mag_Unified(12345);
10const int B_Port = 8;
11const int  B_Lock = 9;
12const int B_Star = 10;
13int Heading;
14int Course;
15int Val_01  = 0;
16int Val_02 = 0;
17int Tillerpilot_off = 0;
18int B_State = 0;
19int R_Port  = A0;
20int R_Star = A1;
21int LED_Port = 13;
22int LED_Lock = 5;
23int LED_Star  = 12;
24void setup() 
25{
26Serial.begin(9600);
27if(!mag.begin()) 
28 {
29  while(1); 
30 }
31  pinMode(B_Port, INPUT_PULLUP);
32  pinMode(B_Lock, INPUT_PULLUP);
33  pinMode(B_Star, INPUT_PULLUP);
34  pinMode(LED_Port, OUTPUT);
35  pinMode(LED_Lock,  OUTPUT);
36  pinMode(LED_Star, OUTPUT);
37  pinMode(R_Port, OUTPUT);
38  pinMode(R_Star,  OUTPUT);
39  digitalWrite(R_Port, HIGH);
40  digitalWrite(R_Star, HIGH);
41  digitalWrite(LED_Port,  HIGH);
42  digitalWrite(LED_Lock, HIGH);
43  digitalWrite(LED_Star, HIGH);
44}
45void  loop() 
46{
47//Tillerpilot in standby mode
48Val_01 = digitalRead(B_Lock);
49if(Val_01  == HIGH && Tillerpilot_off == LOW)
50 {
51 B_State = 1-B_State; // Debound Button
52  delay(1);
53 }    
54Tillerpilot_off = Val_01;
55if(B_State == HIGH)
56  {
57  //Flash ON/OFF Lock LED
58  digitalWrite(LED_Lock, HIGH);
59  delay(250);
60  digitalWrite(LED_Lock, LOW);
61  delay(250);
62   {
63   if (digitalRead(B_Port)  == LOW)
64   digitalWrite(R_Port, LOW);
65   digitalWrite(LED_Port, HIGH);
66   }
67    {
68    if (digitalRead(B_Star) == LOW)
69    digitalWrite(R_Star,  LOW);
70    digitalWrite(LED_Star, HIGH);
71    }
72  delay (250);
73  digitalWrite(R_Port,  HIGH);
74  digitalWrite(LED_Port, LOW);
75  digitalWrite(R_Star, HIGH);
76  digitalWrite(LED_Star,  LOW);
77  Val_02 = 0;
78  }
79else
80  {
81  //Tillerpilot in steering mode
82  //Lock LED continuous ON
83  digitalWrite(LED_Lock, HIGH);
84  delay(1); 
85  Serial.print("Course: ");Serial.print(Course);Serial.print("   ");
86  sensors_event_t  event; 
87  mag.getEvent(&event);
88  float Pi = 3.14159;
89  int Heading = (atan2(event.magnetic.y,event.magnetic.x)  * 180) / Pi;
90   {
91   if (Heading < 0)
92   Heading = 360 + Heading;
93   }
94  Serial.print("Heading: "); Serial.println(Heading);
95  if (Course +3 <= Heading)digitalWrite(R_Port,  LOW); digitalWrite(LED_Port, HIGH);
96  if (Course -3 >= Heading)digitalWrite(R_Star,  LOW); digitalWrite(LED_Star, HIGH);
97   {
98   if (Val_02 == 0) 
99   Course  = Heading;  
100   Val_02 = (Val_02 +1);
101   }
102    {
103    if (digitalRead(B_Port)  == LOW)
104    Course = (Course - 1);
105    }
106     {
107     if (Course < 0)
108     Course = 360 + Course;
109     }
110    {
111    if (Course > 360)
112    Course  = Course - 360;
113    }
114   {
115   if (digitalRead(B_Star) == LOW)
116   Course  = (Course + 1);
117   }
118  delay (250);
119  digitalWrite(R_Port, HIGH);
120  digitalWrite(LED_Port,  LOW);
121  digitalWrite(R_Star, HIGH);
122  digitalWrite(LED_Star, LOW);
123  }
124}

1//TillerPilot 04/05/2019
2//Buttons wired to A8 A9 and A10
3//LED
4  wired D5
5//Relay wired from IN1 to A0 and IN2 to A1
6//Compass SDA to A4 &
7  SCL to A5
8#include <Wire.h>
9#include <Adafruit_Sensor.h>
10#include <Adafruit_LSM303_U.h>
11Adafruit_LSM303_Mag_Unified
12  mag = Adafruit_LSM303_Mag_Unified(12345);
13const int B_Port = 8;
14const int
15  B_Lock = 9;
16const int B_Star = 10;
17int Heading;
18int Course;
19int Val_01
20  = 0;
21int Val_02 = 0;
22int Tillerpilot_off = 0;
23int B_State = 0;
24int R_Port
25  = A0;
26int R_Star = A1;
27int LED_Port = 13;
28int LED_Lock = 5;
29int LED_Star
30  = 12;
31void setup() 
32{
33Serial.begin(9600);
34if(!mag.begin()) 
35 {
36
37  while(1); 
38 }
39  pinMode(B_Port, INPUT_PULLUP);
40  pinMode(B_Lock, INPUT_PULLUP);
41
42  pinMode(B_Star, INPUT_PULLUP);
43  pinMode(LED_Port, OUTPUT);
44  pinMode(LED_Lock,
45  OUTPUT);
46  pinMode(LED_Star, OUTPUT);
47  pinMode(R_Port, OUTPUT);
48  pinMode(R_Star,
49  OUTPUT);
50  digitalWrite(R_Port, HIGH);
51  digitalWrite(R_Star, HIGH);
52  digitalWrite(LED_Port,
53  HIGH);
54  digitalWrite(LED_Lock, HIGH);
55  digitalWrite(LED_Star, HIGH);
56}
57void
58  loop() 
59{
60//Tillerpilot in standby mode
61Val_01 = digitalRead(B_Lock);
62if(Val_01
63  == HIGH && Tillerpilot_off == LOW)
64 {
65 B_State = 1-B_State; // Debound Button
66
67  delay(1);
68 }    
69Tillerpilot_off = Val_01;
70if(B_State == HIGH)
71  {
72
73  //Flash ON/OFF Lock LED
74  digitalWrite(LED_Lock, HIGH);
75  delay(250);
76
77  digitalWrite(LED_Lock, LOW);
78  delay(250);
79   {
80   if (digitalRead(B_Port)
81  == LOW)
82   digitalWrite(R_Port, LOW);
83   digitalWrite(LED_Port, HIGH);
84
85   }
86    {
87    if (digitalRead(B_Star) == LOW)
88    digitalWrite(R_Star,
89  LOW);
90    digitalWrite(LED_Star, HIGH);
91    }
92  delay (250);
93  digitalWrite(R_Port,
94  HIGH);
95  digitalWrite(LED_Port, LOW);
96  digitalWrite(R_Star, HIGH);
97  digitalWrite(LED_Star,
98  LOW);
99  Val_02 = 0;
100  }
101else
102  {
103  //Tillerpilot in steering mode
104
105  //Lock LED continuous ON
106  digitalWrite(LED_Lock, HIGH);
107  delay(1); 
108
109  Serial.print("Course: ");Serial.print(Course);Serial.print("   ");
110  sensors_event_t
111  event; 
112  mag.getEvent(&event);
113  float Pi = 3.14159;
114  int Heading = (atan2(event.magnetic.y,event.magnetic.x)
115  * 180) / Pi;
116   {
117   if (Heading < 0)
118   Heading = 360 + Heading;
119   }
120
121  Serial.print("Heading: "); Serial.println(Heading);
122  if (Course +3 <= Heading)digitalWrite(R_Port,
123  LOW); digitalWrite(LED_Port, HIGH);
124  if (Course -3 >= Heading)digitalWrite(R_Star,
125  LOW); digitalWrite(LED_Star, HIGH);
126   {
127   if (Val_02 == 0) 
128   Course
129  = Heading;  
130   Val_02 = (Val_02 +1);
131   }
132    {
133    if (digitalRead(B_Port)
134  == LOW)
135    Course = (Course - 1);
136    }
137     {
138     if (Course < 0)
139
140     Course = 360 + Course;
141     }
142    {
143    if (Course > 360)
144    Course
145  = Course - 360;
146    }
147   {
148   if (digitalRead(B_Star) == LOW)
149   Course
150  = (Course + 1);
151   }
152  delay (250);
153  digitalWrite(R_Port, HIGH);
154  digitalWrite(LED_Port,
155  LOW);
156  digitalWrite(R_Star, HIGH);
157  digitalWrite(LED_Star, LOW);
158  }
159}