Race Starter,Timer and Speed Measure-Hot Wheels diecast cars

1// Hot Wheels Race Timer
2// v2.0
3// by Ian Cook
4// Check our  YouTube channel at Cooks Projects
5// https://www.youtube.com/channel/UC5M_udtMhAwnymLyAY5qAkw
6//  Released Feb 2021 under licence
7// Please acknowledge me if you use any of my  code
8
9// A further refined program that allows dual function of constant speed  measurement as well as the race timer is available for additional fee.
10// See  website links or https://www.emmaalexandercook.com/cooks-projects/p/race-timer for  details.
11
12#include <I2CIO.h>
13#include <FastIO.h>
14#include <Wire.h>
15#include  <LCD.h>
16#include <LiquidCrystal.h>
17#include <LiquidCrystal_I2C.h>
18
19LiquidCrystal_I2C  lcd(0x27, 2, 1, 0, 4, 5, 6, 7, 3, POSITIVE); // double check your LCD address first  using: i2C_scanner
20//NANO uses SDA on A4 and SCL on A5
21
22
23#define DEBUG  false //Use to toggle the debug function on/off
24#define DEBUG_SENSORS false //Use  to toggle the sensor debug function
25#define COMP_OUTPUT true //Use this to send  info to a connected computer via serial interface. Use false if time is critical  in detecting cars simultaneously
26#define SPEED_CRITICAL false //Set to TRUE to  improve detection speeds of the SpeedClock() function so that simultaneous detection  of cars >20Km/h is always possible.
27
28const int L_LANE_LED=10; //Lane 2 winning  LED in D10 PIN
29const int R_LANE_LED=11; //lane 1 winning LED on D11 PIN
30const  unsigned int MaxWaitTime=10000; //This is the maximum time to wait for second car  to finish before recording result (millisecs)
31const int buzzer=5; //Digital PIN  buzzer is attached to - has to allow PWM (pin 3,5,6 or 9)
32
33const int LEFT=1,  RIGHT=2, BOTH=11;
34const int RFDataIn = A1, RRDataIn = A3, LFDataIn = A0, LRDataIn  = A2;  //Define the Anologue pins set up to which sensor. Reading Pin A3 causes  Tone() to terminate early 
35        //Beware NANO uses the LCD serial transmit  (SDA,SCL) on pins A4 and A5
36const int IRLEDThreshold = 800;   //Set to a value  that indicates when the IR receiver is blocked. IR sensor returns 1024 at maximum  brightness. Adjust for your configuration
37const int DISTANCE_BETWEEN_SENSORS  = 8; //set this to the distance (cm) between the front and rear IR sensor
38const  int L_LANE = 1, R_LANE = 2;
39const int HIGH_TONE = 2400, LOW_TONE = 800;
40const  float SENSOR_DISTANCE_FACTOR  = float(288); // to speed up program, manually calculate  this factor and place here. =float(DISTANCE_BETWEEN_SENSORS/100000)/float(0.27777778);
41//  SENSOR_DISTANCE_FACTOR is 288 if the DISTANCE_BETWEEN_SENSORS is 8cm
42
43int  FrontSensor[2], RearSensor[2]; //For recording the sensor information and allowing  all subroutines to be able to read them. 
44// Although array[0] should be available,  my analysis shows that using array[0] is unreliable when using global variables.
45
46
47void  setup() {
48
49  Serial.begin(9600);
50  pinMode(RFDataIn, INPUT);
51  pinMode(RRDataIn,  INPUT);
52  pinMode(LFDataIn, INPUT);
53  pinMode(LRDataIn, INPUT);
54
55  pinMode(R_LANE_LED,  OUTPUT); //lane 1
56  pinMode(L_LANE_LED, OUTPUT); //lane 2
57
58  pinMode(buzzer,  OUTPUT); // Set buzzer - as an output
59  
60  digitalWrite(R_LANE_LED, HIGH);
61  digitalWrite(L_LANE_LED, HIGH);
62
63  lcd.begin(16, 2);
64  lcd.setCursor(3,  0);
65  lcd.print("Race Timer");
66  lcd.setCursor(3, 1);
67  lcd.print("by:Ian  Cook");
68  delay(2000);
69  lcd.clear();
70}
71
72void loop() {
73 int Winner;
74  bool R_LANEFinish, L_LANEFinish, R_LANESpeedTrap, L_LANESpeedTrap, Sound;
75 float  LSpeed, LScaleSpeed=0, RSpeed, RScaleSpeed=0, WinningDiff, RaceTime;
76 unsigned  long StartTime, WaitTime, SampleTime, timediff;
77 unsigned long FrontSensorTime[2],  RearSensorTime[2]; //Using array[0] results in a bug with global variables in  the compilier, so I haven't used array[0]
78 
79
80  // Race reset - so reset  variable values
81  FrontSensorTime[L_LANE]= 0;
82  FrontSensorTime[R_LANE]= 0;
83  RearSensorTime[L_LANE] = 0;
84  RearSensorTime[R_LANE] = 0;
85  Winner = 99;
86  LSpeed = 0;
87  RSpeed = 0;
88  WinningDiff = 999.999;
89  RaceTime = 0;
90  timediff =9999;
91  R_LANEFinish = false;
92  L_LANEFinish = false;
93  R_LANESpeedTrap  = false;
94  L_LANESpeedTrap = false;
95
96  //Flash lights,sound buzzer and  declare we are ready to race
97  lcd.clear();
98  lcd.setCursor(3, 0);
99  lcd.print("Race  Timer ");
100  delay(2000);
101  lcd.setCursor(0, 1);
102  lcd.print("Ready to  race...");
103  digitalWrite(R_LANE_LED, LOW);
104  digitalWrite(L_LANE_LED, LOW);
105  tone(buzzer, LOW_TONE, 600); 
106  delay(900); 
107  tone(buzzer, LOW_TONE,600);
108  digitalWrite(L_LANE_LED, HIGH); 
109  delay(900);
110  tone(buzzer, LOW_TONE,600);
111  digitalWrite(R_LANE_LED,HIGH);
112  delay(900);
113  tone(buzzer, HIGH_TONE,800);
114  digitalWrite(R_LANE_LED, LOW);
115  digitalWrite(L_LANE_LED, LOW);
116  Sound  = true; //flag to allow tone to sound as workaround for Arduino bug that stops tone  when pin A3 is read! 
117  lcd.clear();
118  lcd.setCursor(4,0); 
119  lcd.print("GO  GO GO!");
120  StartTime = millis();  //set the start time of the race which begins  when lights go out
121
122  WaitTime = StartTime;  //Set this so that we don't wait  for ever for a finishing car that has crashed
123
124// Loop to wait until the first  car crosses - the do Loop takes 1-2 ms which means speeds over 144 Km/h will sometimes  not be read. 288km/h is the max theoretical speed detectable on Arduino Nano
125  do {  
126//Read the sensor data and record the time
127  SampleTime = SampleSensors(Sound);
128    if (Sound && SampleTime>(StartTime+800)) Sound = false;  //Workaround for Tone  bug that stops tone when pin A3 read!
129    
130//Set DEBUG flag for your setup  to make sure the constant IRLEDThreshold value is accurate for your hardware
131//If  DEBUG is left true then these serial prints will slow the sample rate considerably  and reduce the max detectable speed to approx 7Km/h
132 #if (DEBUG) 
133   TestSensors(false);  //Debug routine to display the sensor recorded state
134 #endif
135           
136    if (!L_LANEFinish && (FrontSensor[L_LANE] < IRLEDThreshold)) {
137      // Left  Lane has finished
138      FrontSensorTime[L_LANE] = SampleTime;
139      if (!R_LANEFinish)  {
140        //As the other lane hasn't finished yet, this lane is the winner
141        Winner = L_LANE;
142        digitalWrite(L_LANE_LED, HIGH);
143       }
144      L_LANEFinish = true;
145      WaitTime = millis();  //Reset the timer to ensure  we don't wait if the other lane has crashed
146     }
147    if (!R_LANEFinish &&  (FrontSensor[R_LANE] < IRLEDThreshold)) {
148      // Right Lane has finished
149      FrontSensorTime[R_LANE] = SampleTime;
150      if (!L_LANEFinish) {
151        //As  the other lane hasn't finished yet, this lane is the winner
152        Winner =  R_LANE;
153        digitalWrite(R_LANE_LED, HIGH);
154       }
155      R_LANEFinish  = true;
156      WaitTime = millis(); //Reset the timer to ensure we don't wait  if the other lane has crashed
157     }
158      
159    if (L_LANEFinish && !L_LANESpeedTrap  && RearSensor[L_LANE] < IRLEDThreshold) {
160      //The car has crossed the line  and now the rear sensor
161      RearSensorTime[L_LANE] = SampleTime;
162      L_LANESpeedTrap  = true;
163    }
164    if (R_LANEFinish && !R_LANESpeedTrap && RearSensor[R_LANE]  < IRLEDThreshold) {
165      //The car has crossed the line and now the rear sensor
166      RearSensorTime[R_LANE] = SampleTime;
167      R_LANESpeedTrap = true;
168    }
169// Exit the loop once all sensors have been triggered or once one lane  has finished and there has been a delay > MaxWaitTime   
170  } while (!((L_LANEFinish  && R_LANEFinish && L_LANESpeedTrap && R_LANESpeedTrap) || ((L_LANEFinish || R_LANEFinish)  && (millis() - WaitTime > MaxWaitTime)) ) );
171
172  tone(buzzer, HIGH_TONE,150);
173  delay(200);
174  tone(buzzer, HIGH_TONE,150);
175    
176// Send information to  a connected computer which can be used in data analysis
177#if (COMP_OUTPUT)
178    Serial.println("Times:\	LEFT Front,\	Rear,\	RIGHT Front,\	Rear");
179    Serial.print("\	");
180    Serial.print(FrontSensorTime[L_LANE]);
181    Serial.print("\	");
182    Serial.print(RearSensorTime[L_LANE]);
183    Serial.print("\	\	");
184    Serial.print(FrontSensorTime[R_LANE]);
185    Serial.print("\	");
186    Serial.println(RearSensorTime[R_LANE]);
187#endif
188//Race  is over.  Calculate and display times
189//Race Time is time for first car to finish
190
191switch  (Winner) {
192  case R_LANE:
193    RaceTime = float (FrontSensorTime[R_LANE]-StartTime)/1000;  //Recorded in Sec
194    if (FrontSensorTime[L_LANE]>0) WinningDiff = float(FrontSensorTime[L_LANE]  - FrontSensorTime[R_LANE])/1000;   
195   break;
196  case L_LANE:
197   RaceTime  = float (FrontSensorTime[L_LANE]-StartTime)/1000;
198   if (FrontSensorTime[R_LANE]>0)  WinningDiff = float(FrontSensorTime[R_LANE] - FrontSensorTime[L_LANE])/1000;
199   break;
200  default:
201   RaceTime = 0;
202}
203
204 //Check for a draw due  to sample timings being equal
205 if (WinningDiff == 0) Winner=555;
206   
207//The  distance between the sensors is DistanceBetweenSensors (cm) so the speed is D cm/time  taken (cm/ms *3 600 000 / 100 000 = km/h) :: Millis() returns milliseconds which  1/1000 s
208// Km/h = (D/100000)/(milli/(1000*60*60)) = D/(milli/3600) or D/3600  * 1/milli; D=8 then km/h = 288 / milli
209//Max speed capable of reading at 2ms  sample rate is  144 Km/h!
210// Speed = Dist in KM (cm /100000)  / time in hrs (  millis/1000/60/60) 
211// distance = 8 cm then Speed = (8/100000)/(millis/.27777778)  = (0.00008/0.27777778)/millis = 288/millis
212
213  timediff = RearSensorTime[L_LANE]  - FrontSensorTime[L_LANE];
214  if (timediff>0) {
215   LSpeed = SENSOR_DISTANCE_FACTOR  / float(timediff); //km/h
216   #if (DEBUG) 
217    //Use to check that the SENSOR_DISTANCE_FACTOR  is correct for your set up
218    Serial.print ("Time Diff:\	");
219    Serial.print  (timediff);
220    Serial.print (" Lspeed calc ");
221    Serial.println (LSpeed);
222    #endif
223  }
224  else LSpeed = 0;
225
226  timediff = RearSensorTime[R_LANE]  - FrontSensorTime[R_LANE];
227  if (timediff>0) {
228    RSpeed = SENSOR_DISTANCE_FACTOR  / float(timediff); //km/h
229    #if (DEBUG)
230      //Use to check that the SENSOR_DISTANCE_FACTOR  is correct for your set up
231      Serial.print ("Time Diff:\	");
232      Serial.print  (timediff);
233      Serial.print (" Rspeed calc ");
234      Serial.println (RSpeed);
235    #endif
236  }
237  else RSpeed = 0;
238
239//Hot wheels cars are 1:64 scale  so calculate scale speed
240  LScaleSpeed=LSpeed*float(64);
241  RScaleSpeed=RSpeed*float(64);
242
243//Send  information to serial device (computer) for data analysis
244 #if (COMP_OUTPUT)  
245  Serial.print("Race Time: ");
246  Serial.println(RaceTime);
247  Serial.println("Final  Speeds");
248  Serial.print("LEFT:  ");
249  Serial.print(LSpeed,3);
250  Serial.print("  Km/h : Scale Spd= ");
251  Serial.print(LScaleSpeed,2);
252  Serial.println("  Km/h");
253  Serial.print("RIGHT: ");
254  Serial.print(RSpeed,3);
255  Serial.print("  Km/h : Scale Spd= ");
256  Serial.print(RScaleSpeed,2);
257  Serial.println("  Km/h");
258
259  Serial.print("Left  Lane Race Time (ms)");
260  Serial.println("\	Right  Lane Race Time (ms)");
261  Serial.print(FrontSensorTime[L_LANE]);
262  Serial.print("\	\	\	");
263  Serial.println(FrontSensorTime[R_LANE]);
264  if (Winner== 555) Serial.print("This  was a DRAW! ");
265    else if (Winner == R_LANE) Serial.print("Right car won  by ");
266         else Serial.print("Left car won by ");
267  Serial.print(WinningDiff,3);
268  Serial.println(" s");
269 #endif
270 
271//Send the information to the LCD display  on the hardware unit
272  lcd.clear();
273  lcd.setCursor(0,0);
274  lcd.print("Race  Time:");
275  lcd.setCursor(10,0);
276  lcd.print(RaceTime,3);
277  lcd.setCursor(14,0);
278  lcd.print("s ");
279  lcd.setCursor(0,1);
280  if (Winner == L_LANE) {
281    lcd.print("L  won by");
282    }
283  else if (Winner == R_LANE) {
284    lcd.print("R won by");
285    }
286    else {
287      lcd.print("DRAW!");
288   }
289  lcd.setCursor(10,1);
290  lcd.print(WinningDiff,3);
291  lcd.setCursor(15,1);
292  lcd.print("s");
293  delay(5000);
294    
295  lcd.clear();
296  lcd.setCursor(0, 0);
297  lcd.print("LSpd:");
298  lcd.setCursor(5, 0);
299  if (LSpeed > 0.001) {
300    lcd.print(LSpeed, 2);  
301    lcd.setCursor(11, 0);
302    lcd.print(" Km/h");
303   }
304   else lcd.print("  * DNF *");  //This lane did not finish
305  lcd.setCursor(0, 1);
306  lcd.print("RSpd:"  );
307  lcd.setCursor(5, 1);
308  if (RSpeed > 0.001) {
309    lcd.print(RSpeed,  2);  
310    lcd.setCursor(11, 1);
311    lcd.print(" Km/h");
312   }
313   else  lcd.print("  * DNF *");  //This lane did not finish
314
315  if (Winner != 555)  {
316    //i.e. This is NOT a draw
317    //set cursor for Winnner text
318    delay(1000);
319    lcd.setCursor(11, (Winner-L_LANE));
320    lcd.print("*WIN*");
321    for  (int i=0; i<6; i++) {
322      digitalWrite(Winner+9, LOW);
323      delay(400);
324      digitalWrite(Winner+9, HIGH);
325      delay(400);
326      }
327   }
328   else {
329   //This must be a draw
330    lcd.setCursor(12,0);
331    lcd.print  ("DRAW");
332    lcd.setCursor(12,1);
333    lcd.print ("DRAW");
334    for  (int i=0; i<6; i++) {
335     digitalWrite(L_LANE, LOW);
336     digitalWrite(R_LANE,  LOW);
337     delay(400);
338     digitalWrite(R_LANE, HIGH);
339     digitalWrite(L_LANE,  HIGH);
340     delay(400);
341     }   
342    }
343
344   lcd.clear();
345   lcd.setCursor(0,  0);
346   lcd.print("LScaleSpd:");
347   if (LScaleSpeed<10)   lcd.setCursor(12,0);
348    else {
349      if (LScaleSpeed<100)  lcd.setCursor(11, 0); //line up the decimal  points on the display
350      else lcd.setCursor(10,0);
351    }
352   if (LScaleSpeed  >0) lcd.print(LScaleSpeed, 1);
353     else lcd.print("DNF");
354   lcd.setCursor(0,  1);
355   lcd.print("RScaleSpd:");
356   if (RScaleSpeed<10)   lcd.setCursor(12,1);
357    else {
358      if (RScaleSpeed<100)  lcd.setCursor(11, 1); //line up the decimal  points on the display
359      else lcd.setCursor(10,0);
360    }
361   if (RScaleSpeed  >0) lcd.print(RScaleSpeed, 1);
362     else lcd.print("DNF");
363
364  // Delay  before staring the race again.
365  delay(5000);
366}
367
368
369unsigned long SampleSensors(bool  sound) {
370//Read the sensor data and return the time they are taken (ms)
371//The  parameter sound is used to prevent the tone being terminated early due to Arduino  Nano issue that reading A3 pin causes the tone to stop!
372  FrontSensor[R_LANE]  = analogRead(RFDataIn);
373  FrontSensor[L_LANE] = analogRead(LFDataIn);
374//This  section only compiles the relevant code if RRDataIn is connected to pin A3, defined  in constants. This is to prevent cutting tone short during start sequence
375#if  RRDataIn == A3
376  if (!sound) RearSensor[R_LANE] = analogRead(RRDataIn);
377#else
378    RearSensor[R_LANE] = analogRead(RRDataIn); 
379#endif
380  RearSensor[L_LANE]  = analogRead(LRDataIn);
381  return(millis());
382}