Added relay functionality

Author: himalayanelixir

Screen Shot 2019-05-30 at 11.11.40 AM.png

@@ -5,9 +5,12 @@
 #define DEBOUNCE_TIME .4
 #define SAMPLE_FREQUENCY 20
 #define MAXIMUM (DEBOUNCE_TIME * SAMPLE_FREQUENCY)
-#define NUMBER_MOTORS 9
+#define NUMBER_MOTORS 1
 
-// function declarations
+// relay pin
+int relayPin = 53;
+
+// function declarations`
 void RecvWithStartEndMarkers();
 void ProcessData();
 int CheckSwitch();
@@ -21,8 +24,9 @@ bool new_data = false;
 // initialize motors
 Servo my_servo[NUMBER_MOTORS];
 // create a array of ports with the order: motor, counter, reset
-int ports[NUMBER_MOTORS][3] = {{2, 3, 4}, {5, 6, 7}, {8, 9, 10}, {11, 12, 13}, {22, 23, 24}, {25, 26, 27}, {28, 29, 30}, {31, 32, 33}, {34, 35, 36}};
-
+int ports[NUMBER_MOTORS][3] = {{34, 35, 36}};
+// int ports[NUMBER_MOTORS][3] = {{2, 3, 4}, {5, 6, 7}, {8, 9, 10}, {11, 12, 13}, {22, 23, 24}, {25, 26, 27}, {28, 29, 30}, {31, 32, 33}, {34, 35, 36}};
+// int ports[NUMBER_MOTORS][3] = {{2, 3, 4}, {5, 6, 7}, {8, 9, 10}, {11, 12, 13}, {22, 23, 24}, {25, 26, 27}};
 // integer array that contains the direction and number of rotations a motor
 // needs to go
 int motor_commands[NUMBER_MOTORS][2] = {0};
@@ -45,6 +49,9 @@ void setup()
   // setup serial port
   Serial.begin(9600);
 
+  // initialize relay pin
+  pinMode(relayPin, OUTPUT);
+  
   // initialize all motor ports
   Serial.println("Begining Initialization");
   Serial.print("Motor Ports: ");
@@ -102,6 +109,8 @@ void loop()
     Serial.println("<");
     Serial.print("Arduino: ");
     Serial.println(received_chars);
+    digitalWrite(relayPin, HIGH);
     ProcessData();
+    digitalWrite(relayPin, LOW);
   }
-}
+}

arduino_controller/arduino_controller.ino

@@ -185,4 +185,4 @@ int CheckSwitch(int motor_number, int switchPort)
     return (1);
     integrator[motor_number] = MAXIMUM; /* defensive code if integrator got corrupted */
   }
-}
+}

arduino_controller/arduino_controller_functions.ino

@@ -0,0 +1,72 @@
+description[en] = <b>OSH Park Design Rules</b>\n<p>\nPlease make sure your boards conform to these design rules.\n</p>\n<p>\nNote, that not all DRC settings must be set by the manufacturer. Several can be adjusted for the design, including those listed on our docs page here. \n<a href="http://docs.oshpark.com/design-tools/eagle/design-rules-files/">Adjustable Settings</a>\n</p>
+layerSetup = (1*16)
+mtCopper = 0.035559375mm 0.0356mm 0.0356mm 0.0356mm 0.0356mm 0.0356mm 0.0356mm 0.0356mm 0.0356mm 0.0356mm 0.0356mm 0.0356mm 0.0356mm 0.0356mm 0.0356mm 0.035559375mm
+mtIsolate = 1.6mm 0.1499mm 0.2007mm 0.1499mm 0.2007mm 0.1499mm 0.2007mm 0.1499mm 0.2007mm 0.1499mm 0.2007mm 0.1499mm 0.2007mm 0.1499mm 0.2007mm
+mdWireWire = 6mil
+mdWirePad = 6mil
+mdWireVia = 6mil
+mdPadPad = 6mil
+mdPadVia = 6mil
+mdViaVia = 6mil
+mdSmdPad = 6mil
+mdSmdVia = 6mil
+mdSmdSmd = 6mil
+mdViaViaSameLayer = 8mil
+mnLayersViaInSmd = 2
+mdCopperDimension = 15mil
+mdDrill = 6mil
+mdSmdStop = 0mil
+msWidth = 6mil
+msDrill = 10mil
+msMicroVia = 10mil
+msBlindViaRatio = 0.500000
+rvPadTop = 0.250000
+rvPadInner = 0.250000
+rvPadBottom = 0.250000
+rvViaOuter = 0.250000
+rvViaInner = 0.250000
+rvMicroViaOuter = 0.250000
+rvMicroViaInner = 0.250000
+rlMinPadTop = 5mil
+rlMaxPadTop = 20mil
+rlMinPadInner = 5mil
+rlMaxPadInner = 20mil
+rlMinPadBottom = 5mil
+rlMaxPadBottom = 20mil
+rlMinViaOuter = 5mil
+rlMaxViaOuter = 20mil
+rlMinViaInner = 5mil
+rlMaxViaInner = 20mil
+rlMinMicroViaOuter = 5mil
+rlMaxMicroViaOuter = 20mil
+rlMinMicroViaInner = 5mil
+rlMaxMicroViaInner = 20mil
+psTop = -1
+psBottom = -1
+psFirst = -1
+psElongationLong = 100
+psElongationOffset = 100
+mvStopFrame = 1.000000
+mvCreamFrame = 0.000000
+mlMinStopFrame = 2.5mil
+mlMaxStopFrame = 2.5mil
+mlMinCreamFrame = 0mil
+mlMaxCreamFrame = 0mil
+mlViaStopLimit = 0mil
+srRoundness = 0.000000
+srMinRoundness = 0mil
+srMaxRoundness = 0mil
+slThermalIsolate = 10mil
+slThermalsForVias = 0
+dpMaxLengthDifference = 10mm
+dpGapFactor = 2.500000
+checkAngle = 0
+checkFont = 1
+checkRestrict = 1
+checkStop = 0
+checkValues = 0
+checkNames = 1
+checkWireStubs = 1
+checkPolygonWidth = 0
+useDiameter = 13
+maxErrors = 50