Geavanceerd autopiloot-systeem voor zeilboten – Precieze automatische sturing

• Interval: bv. 2000 ms, tijd tussen stuurcorrecties.
• Minimum: bv. 2°, minimale afwijking voor interventie.
• Max: bv. 40°, maximale stuurwijziging per keer.
• Coëfficiënt: bv. 1,50 × °, vermenigvuldiger voor stuurwijziging.

Deze parameters zijn nodig voor fijnafstelling op de boot. Responsiviteit, gevoeligheid, vloeiendheid hangen af van katrol diameters, aantal katrollen, roergevoeligheid, stoklengte, etc. Alles installeren, testen, ervaring opdoen. Kies een mooie zonnige dag met licht wind!

Hoe het "live" werkt

Je vaart op zee/meer/hafen. Thee-tijd! Cola en boterham in zak. Autopiloot AAN → GPS fix wachten. Display toont: snelheid (knopen), klok, koers bv. H270° (R=route, H=werkelijke koers). 180°=zuid, 270°=west, 360/0°=noord, 90°=oost. R en H gelijk in pauze (STOP). Stuurlijn verbinden (stappenmotor → roerstok), blauwe knop → autopiloot sturen START. Autopiloot houdt R en corrigeert H (langzaam/snel afhankelijk van weer). Koers wijzigen via rood/groen knoppen op unit of RC. Controle terugvatten: blauwe knop (pauze), lijn loskoppelen, zelf sturen. Klaar.

Software-kant

Code is lang maar helder. ~65% programma-geheugen, ~45% RAM. String-klasse voor NMEA-zinnen, stabiliteit goed. serialEvent() ontvangt GPS-data 2x/sec, roept nmeaExtractData(), checkt checksum met nmea0183_checksum(). Andere GPS? Zorg voor zelfde structuur of pas aan (bijv. EM406A: $GPRMC, BN-220T: $GNRMC). Checksum-test: nmeachecksum.eqth.net.

Voorbeeld NMEA-zin: $GPRMC,095836.000,A,4551.9676,N,01328.7118,E,2.09,341.84,280519,,*08

In Setup(): EEPROM check – indien nieuw/onbekend initialiseren. Parameters als bytes: 0=0x29, 1=0x00, 2-3=interval, 4-5=min, 6-7=max, 8-11=coëfficiënt (byte, byte, int, int, float). Defensief EEPROM lezen/schrijven. Sensoren elke 10s via readMuxSensors() (multiplexer) → alarm bij lage accu/hoge temp. Stroommeting resolutie ~40mA. Knoppen (HW/RC) continu gecheckt; gedrag afhankelijk van IsSetup boolean en RefreshDisplay(). Kern: STURINGCONTROLE → gomotor() voor stappenmotor uit/en terug. Sturing ook tijdens Setup. Watchdog voeden: pin toggelen zo vaak mogelijk.

Installatie op een zeilboot

Zie foto: autopiloot en stappenmotor op achterschip, stevig bevestigd. Touw 6mm van hoofdkatrol stappenmotor → 2 andere katrollen aan beide kanten. Deze katrollen "vast" aan boot via 2 bungee-ringen voor lichte spanning. Eindelijk: touw verbinden met roerstok (tijdelijke verbinding) – makkelijk aan/af. Autopiloot systeem van water fernhouden! :-)

Nieuws & Updates

• 10.05.2020: .STEP 3D CAD-bestanden toegevoegd voor stappenmotor-katrol (door mij) en montageplaat (door Andrew Barney), + 3D-preview.

Disclaimer & Waarschuwingen

Dit is een spel, niets om serieus te nemen! Ik reisde 16 maanden rond de wereld op zeilboot. We navigeerden intensief met een echte autopiloot (NIET DEZE!) in alle weersomstandigheden. Een echte autopiloot is heel robuust (hardware/software) en moet vertrouwd worden. Deze Arduino-autopiloot is een fantastisch spel om mee te experimenteren en plezier te beleven.

Veel plezier!

Marco Zonca

Code

Autopiloot sketch (voor Uno)

/* Autopiloot voor kleine zeilboten, Marco Zonca 2019
   Arduino UNO CPU, Arduino Nano watchdog, GPS BT-220 NMEA, stappenmotor + controller,
   RF433MHz RC, 6 knoppen, buzzer, I2C display, 2 LEDs, I2C 24C04 EEPROM, Mux 4051,
   LiPo 2S 7.4V 2600mA, 7805 regelaar, Thermistor */
#include <LiquidCrystal_I2C.h>
#include <NewTone.h>
#include <Stepper.h>
#include <Wire.h>

String inputString = "";
String nm_time = "00:00:00";
String nm_validity = "V";
String nm_latitude = "ddmm.mmmm'N";
String nm_longitude = "dddmm.mmmm'E";
String nm_knots = "0.0kn";
float nmf_knots = 0.0;
String nm_truecourse = "360";
float nmf_truecourse = 360;
String nm_date = "dd/mm/yyyy";
String nm_routetofollow = "000";
float nmf_routetofollow = 0;

unsigned long previousStearingMillis = 0;
unsigned long currentStearingMillis = 0;
unsigned long prevCheckSensorsMillis = 0;
unsigned long currCheckSensorsMillis = 0;
int CheckSensorsInterval = 10000;

bool stringComplete = false;
bool isfirstfix = true;
bool ispause = true;
bool isStearing = false;
bool isSetup = false;

int s=0, y=0, z=0, d=0;
int rfRemoteControlValue = 0;
int HWButtonValue = 0;
int SetupParameter = 0;
float calcmove = 0, cm = 0, Stearing = 0, prevStearing = 0, t = 0;

int EEdisk = 0x50;
int EEid1 = 0x29, EEid2 = 0x00;
unsigned int EEaddress = 0, EEbytes = 12;
byte EEdata[12], EEbytedata;
int EEerr = 0;

float SensorVBatt=0, SensorVRes=0, SensorTemp=0, SensormAmp=0;

int StearingInterval = 2000;
int StearingMinToMove = 2;
int StearingMaxMove = 40;
float StearingCoeffMove = 1.5;

byte bStearingInterval[sizeof(int)];
byte bStearingMinToMove[sizeof(int)];
byte bStearingMaxMove[sizeof(int)];
byte bStearingCoeffMove[sizeof(float)];

int prev_StearingInterval=0, prev_StearingMinToMove=0, prev_StearingMaxMove=0;
float prev_StearingCoeffMove=0;

const int ledpausePin = 2;
const int watchDogPin = 3;
const int MuxSelBit0Pin = 7;
const int MuxSelBit1Pin = 6;
const int motorsABenablePin = 13;
const int MuxIOPin = 14;
const int ButtonsPin = 15;
const int rfRemoteControlPin = 16;
const int speakerPin = 17;

const int RCleftbutton = 201, RCrightbutton = 202, RCleft10button = 203, RCright10button = 204;
const int HWleftbutton = 101, HWrightbutton = 102, HWpausebutton = 103, HWsetupbutton = 104;
const int HWleft10button = 105, HWright10button = 106;

const int motorStepsPerRevolution = 200;

LiquidCrystal_I2C lcd(0x27, 2, 1, 0, 4, 5, 6, 7, 3, POSITIVE);
Stepper motor(motorStepsPerRevolution, 9, 10, 11, 12);

void setup() {
  Serial.begin(4800);
  lcd.begin(16,2);
  Wire.begin();
  motor.setSpeed(60);
  inputString.reserve(200);
  pinMode(motorsABenablePin, OUTPUT);
  pinMode(MuxSelBit0Pin, OUTPUT);
  pinMode(MuxSelBit1Pin, OUTPUT);
  digitalWrite(motorsABenablePin, LOW);
  digitalWrite(MuxSelBit0Pin, LOW);
  digitalWrite(MuxSelBit1Pin, LOW);
  pinMode(ledpausePin, OUTPUT);
  pinMode(watchDogPin, OUTPUT);
  digitalWrite(ledpausePin, LOW);
  digitalWrite(watchDogPin, LOW);

  lcd.clear(); lcd.setCursor(0,0); lcd.print("Memory check...");
  lcd.setCursor(0,1);
  for (s = 0; s < EEbytes; s++) {
    EEaddress = s;
    EEbytedata = readEEPROM(EEdisk, EEaddress);
    EEdata[s] = EEbytedata;
  }
  if (EEerr) { lcd.print("E="); lcd.print(EEerr); delay(1000); }
  if ((EEdata[0] != EEid1) || (EEdata[1] != EEid2)) {
    lcd.print(" init!"); goupdateEEPROM();
    if (EEerr) { lcd.print("E="); lcd.print(EEerr); delay(1000); }
  }
  memcpy(bStearingInterval, EEdata+2, sizeof(int));
  memcpy(bStearingMinToMove, EEdata+4, sizeof(int));
  memcpy(bStearingMaxMove, EEdata+6, sizeof(int));
  memcpy(bStearingCoeffMove, EEdata+8, sizeof(float));
  StearingInterval = *((int*)bStearingInterval);
  StearingMinToMove = *((int*)bStearingMinToMove);
  StearingMaxMove = *((int*)bStearingMaxMove);
  StearingCoeffMove = *((float*)bStearingCoeffMove);
  prev_StearingInterval = StearingInterval;
  prev_StearingMinToMove = StearingMinToMove;
  prev_StearingMaxMove = StearingMaxMove;
  prev_StearingCoeffMove = StearingCoeffMove;
  lcd.print(" OK"); delay(1000);
  lcd.clear(); lcd.print("GPS reading..."); delay(1000);
}

void loop() {
  currCheckSensorsMillis = millis();
  if (currCheckSensorsMillis - prevCheckSensorsMillis >= CheckSensorsInterval) {
    readMuxSensors();
    if ((SensorVBatt <= 7.0) || (SensorTemp >= 50)) {
      lcd.clear(); lcd.setCursor(0,0); lcd.print("Alarm sensors! ");
      lcd.setCursor(1,1); lcd.print("V="); lcd.print(SensorVBatt); lcd.print(" ");
      lcd.print(int(SensorTemp)); lcd.write(0xDF); lcd.print("C");
      NewTone(speakerPin,10); delay(1000); noNewTone();
    }
    prevCheckSensorsMillis = currCheckSensorsMillis;
  }

  currentStearingMillis = millis();
  if (currentStearingMillis - previousStearingMillis >= StearingInterval) {
    if (!isStearing && !ispause) {
      calcmove = nmf_routetofollow - nmf_truecourse;
      if (calcmove < -180) calcmove += 360;
      else if (calcmove > 180) calcmove -= 360;
      if (abs(calcmove) >= StearingMinToMove) {
        if (abs(calcmove) >= StearingMaxMove) {
          cm = (calcmove < 0) ? -StearingMaxMove : StearingMaxMove;
          calcmove = cm;
        }
        Stearing = calcmove * StearingCoeffMove;
        gomotor(int((Stearing * 216) / 360));
        prevStearing = Stearing;
        isStearing = true;
      }
    } else {
      if (isStearing) {
        Stearing = -prevStearing;
        gomotor(int((Stearing * 216) / 360));
        Stearing = 0; prevStearing = 0; isStearing = false;
      }
    }
    previousStearingMillis = currentStearingMillis;
  }

  rfRemoteControlValue = checkRfRC();
  if (rfRemoteControlValue) {
    switch (rfRemoteControlValue) {
      case RCleftbutton: goleft(); break;
      case RCrightbutton: goright(); break;
      case RCleft10button: goleft10(); break;
      case RCright10button: goright10(); break;
    }
  }

  HWButtonValue = checkHWButtons();
  if (HWButtonValue) {
    switch (HWButtonValue) {
      case HWleftbutton: if (!isSetup) goleft(); else setupMinus(); break;
      case HWrightbutton: if (!isSetup) goright(); else setupPlus(); break;
      case HWpausebutton: gopause(); break;
      case HWsetupbutton: gosetup(); break;
      case HWleft10button: goleft10(); break;
      case HWright10button: goright10(); break;
    }
  }

  if (stringComplete) {
    bool ret = nmeaExtractData();
    inputString = ""; stringComplete = false;
    if (ret) RefreshDisplay();
  }

  if (digitalRead(watchDogPin) == LOW) digitalWrite(watchDogPin, HIGH);
  else digitalWrite(watchDogPin, LOW);
}

void readMuxSensors() {
  float Vo, n, n1, v1ad, v2ad, corr, R1=10000, logR2, R2, T;
  float c1=1.009249522e-03, c2=2.378405444e-04, c3=2.019202697e-07;
  digitalWrite(MuxSelBit0Pin, LOW); digitalWrite(MuxSelBit1Pin, LOW);
  n = analogRead(MuxIOPin); v1ad=n;
  n1=(((10.00*n)/1023.00)); SensorVBatt=(n1+((n1*0.0)/100));
  digitalWrite(MuxSelBit0Pin, LOW); digitalWrite(MuxSelBit1Pin, HIGH);
  n = analogRead(MuxIOPin); v2ad=n;
  n1=(((10.00*n)/1023.00)); SensorVRes=(n1+((n1*0.0)/100));
  digitalWrite(MuxSelBit0Pin, HIGH); digitalWrite(MuxSelBit1Pin, LOW);
  Vo = analogRead(MuxIOPin);
  R2 = R1*(1023.0/Vo-1.0); logR2=log(R2);
  T = 1.0/(c1+c2*logR2+c3*logR2*logR2*logR2);
  SensorTemp = T-273.15;
  n = (v1ad-v2ad); n1 = (n/0.22)*1000.00;
  SensormAmp = (((10.00*n1)/1023.00));
}

bool nmeaExtractData() {
  bool ret = false;
  if ((inputString.substring(0,6)=="$GNRMC") && (inputString.substring(inputString.length()-4,inputString.length()-2)==nmea0183_checksum(inputString))) {
    y=0;
    for (s=1; s<11; s++) {
      y=inputString.indexOf(",",y);
      int z=inputString.indexOf(",",y+1);
      switch(s) {
        case 1: if(z>y+1) nm_time=inputString.substring(y+1,y+2+1)+":"+inputString.substring(y+1+2,y+4+1)+":"+inputString.substring(y+1+4,y+6+1); y=z; break;
        case 2: if(z>y+1) nm_validity=inputString.substring(y+1,y+1+1); y=z; break;
        case 3: if(z>y+1) nm_latitude=inputString.substring(y+1,y+2+1)+""+inputString.substring(y+1+2,y+10+1)+"'"; y=z; break;
        case 4: if(z>y+1) nm_latitude+=inputString.substring(y+1,y+1+1); y=z; break;
        case 5: if(z>y+1) nm_longitude=inputString.substring(y+1,y+3+1)+""+inputString.substring(y+1+3,y+11+1)+"'"; y=z; break;
        case 6: if(z>y+1) nm_longitude+=inputString.substring(y+1,y+1+1); y=z; break;
        case 7: if(z>y+1) { nmf_knots=inputString.substring(y+1,z).toFloat(); t=roundOneDec(nmf_knots); nm_knots=String(t,1)+"kn"; } y=z; break;
        case 8: if(z>y+1) { nmf_truecourse=inputString.substring(y+1,z).toFloat(); d=nmf_truecourse; nm_truecourse=d; } y=z; break;
        case 9: if(z>y+1) nm_date=inputString.substring(y+1,y+2+1)+"/"+inputString.substring(y+1+2,y+4+1)+"/20"+inputString.substring(y+1+4,y+6+1); y=z; break;
      }
    }
    if (isfirstfix || ispause) { nm_routetofollow=nm_truecourse; nmf_routetofollow=nmf_truecourse; isfirstfix=false; }
    ret=true;
  }
  return ret;
}

void setupPlus() {
  switch(SetupParameter) {
    case 2: StearingInterval+=100; if(SteeringInterval>5000) StearingInterval=5000; break;
    case 3: StearingMinToMove++; if(StearingMinToMove>20) StearingMinToMove=20; break;
    case 4: StearingMaxMove++; if(StearingMaxMove>45) StearingMaxMove=45; break;
    case 5: StearingCoeffMove+=0.1; if(StearingCoeffMove>4) StearingCoeffMove=4; break;
  }
  delay(200); RefreshDisplay();
}

void setupMinus() {
  switch(SetupParameter) {
    case 2: StearingInterval-=100; if(StearingInterval<1000) StearingInterval=1000; break;
    case 3: StearingMinToMove--; if(StearingMinToMove<0) StearingMinToMove=0; break;
    case 4: StearingMaxMove--; if(StearingMaxMove<10) StearingMaxMove=10; break;
    case 5: StearingCoeffMove-=0.1; if(StearingCoeffMove<0.1) StearingCoeffMove=0.1; break;
  }
  delay(200); RefreshDisplay();
}

void gomotor(int stepsToMove) {
  digitalWrite(motorsABenablePin, HIGH);
  motor.step(stepsToMove);
  digitalWrite(motorsABenablePin, LOW);
}

void RefreshDisplay() {
  if (!isSetup) {
    lcd.clear(); lcd.setCursor(0,0);
    lcd.print("R"+nm_routetofollow); lcd.write(0xDF); lcd.print(" H"+nm_truecourse); lcd.write(0xDF);
    if (ispause) lcd.print(" STOP");
    else { if(Stearing>0) lcd.print(" +"); if(Stearing==0) lcd.print(" "); if(Stearing<0) lcd.print(" "); lcd.print(int(Stearing)); }
    lcd.setCursor(0,1); lcd.print(nm_time+" "+nm_knots);
  } else {
    lcd.clear(); lcd.setCursor(0,0); lcd.print("setup: ");
    switch(SetupParameter) {
      case 1: readMuxSensors(); lcd.print("V="); lcd.print(SensorVBatt); lcd.setCursor(1,1); lcd.print("mA="); lcd.print(int(SensormAmp)); lcd.print(" "); lcd.print(int(SensorTemp)); lcd.write(0xDF); lcd.print("C"); break;
      case 2: lcd.print("interval"); lcd.setCursor(7,1); lcd.print(StearingInterval); lcd.print(" mSec"); break;
      case 3: lcd.print("minimum"); lcd.setCursor(7,1); lcd.print(StearingMinToMove); lcd.write(0xDF); break;
      case 4: lcd.print("max"); lcd.setCursor(7,1); lcd.print(StearingMaxMove); lcd.write(0xDF); break;
      case 5: lcd.print("coeffic."); lcd.setCursor(7,1); lcd.print(StearingCoeffMove); lcd.print(" x "); lcd.write(0xDF); break;
    }
  }
}

void serialEvent() {
  while(Serial.available()) {
    char inChar=(char)Serial.read(); inputString+=inChar;
    if(inChar=='\n') stringComplete=true;
  }
}

String nmea0183_checksum(String nmea_data) {
  int crc=0; String chSumString="";
  for(int i=1;i<(nmea_data.length()-5);i++) crc^=nmea_data[i];
  chSumString=String(crc,HEX);
  if(chSumString.length()==1) chSumString="0"+chSumString.substring(0,1);
  chSumString.toUpperCase(); return chSumString;
}

int checkRfRC() {
  int n=analogRead(rfRemoteControlPin), res=0;
  if(n>350&&n<460) res=RCleftbutton;
  if(n>90&&n<190) res=RCrightbutton;
  if(n>540&&n<640) res=RCleft10button;
  if(n>225&&n<325) res=RCright10button;
  return res;
}

int checkHWButtons() {
  int n=analogRead(ButtonsPin), res=0;
  if(n>465&&n<565) res=HWleftbutton;
  if(n>290&&n<390) res=HWrightbutton;
  if(n>130&&n<220) res=HWpausebutton;
  if(n>625&&n<725) res=HWsetupbutton;
  if(n>975&&n<1075) res=HWleft10button;
  if(n>800&&n<900) res=HWright10button;
  return res;
}

void gosetup() {
  if(!isSetup) { SetupParameter=1; isSetup=true; }
  else {
    if(SetupParameter<5) SetupParameter++;
    else {
      if(prev_StearingInterval!=StearingInterval || prev_StearingMinToMove!=StearingMinToMove || prev_StearingMaxMove!=StearingMaxMove || prev_StearingCoeffMove!=StearingCoeffMove) {
        lcd.clear(); lcd.setCursor(0,0); lcd.print("updating... "); delay(1000); goupdateEEPROM();
        if(EEerr) { lcd.print("E="); lcd.print(EEerr); delay(1000); }
        prev_StearingInterval=StearingInterval; prev_StearingMinToMove=StearingMinToMove;
        prev_StearingMaxMove=StearingMaxMove; prev_StearingCoeffMove=StearingCoeffMove;
      }
      isSetup=false;
    }
  }
  NewTone(speakerPin,2000); delay(200); noNewTone(); RefreshDisplay();
}

void goupdateEEPROM() {
  EEaddress=0; EEdata[0]=EEid1; EEbytedata=EEid1; writeEEPROM(EEdisk,EEaddress,EEbytedata);
  EEaddress=1; EEdata[1]=EEid2; EEbytedata=EEid2; writeEEPROM(EEdisk,EEaddress,EEbytedata);
  memcpy(bStearingInterval,&StearingInterval,sizeof(int));
  memcpy(bStearingMinToMove,&StearingMinToMove,sizeof(int));
  memcpy(bStearingMaxMove,&StearingMaxMove,sizeof(int));
  memcpy(bStearingCoeffMove,&StearingCoeffMove,sizeof(float));
  memcpy(EEdata+2,bStearingInterval,sizeof(int));
  memcpy(EEdata+4,bStearingMinToMove,sizeof(int));
  memcpy(EEdata+6,bStearingMaxMove,sizeof(int));
  memcpy(EEdata+8,bStearingCoeffMove,sizeof(float));
  for(s=2;s360) nmf_routetofollow=1; d=nmf_routetofollow; nmf_routetofollow=d; nm_routetofollow=d; NewTone(speakerPin,800); delay(200); noNewTone(); }
  else { NewTone(speakerPin,1000); delay(50); noNewTone(); }
  RefreshDisplay();
}

void goright10() {
  if(!ispause) { for(s=1;s<11;s++) { nmf_routetofollow++; if(nmf_routetofollow>360) nmf_routetofollow=1; } d=nmf_routetofollow; nmf_routetofollow=d; nm_routetofollow=d; NewTone(speakerPin,800); delay(200); noNewTone(); }
  else { NewTone(speakerPin,1000); delay(50); noNewTone(); }
  RefreshDisplay();
}

void gopause() {
  if(ispause) { ispause=false; digitalWrite(ledpausePin,HIGH); NewTone(speakerPin,50); delay(200); NewTone(speakerPin,200); delay(800); noNewTone(); }
  else { ispause=true; digitalWrite(ledpausePin,LOW); NewTone(speakerPin,200); delay(200); NewTone(speakerPin,50); delay(800); noNewTone(); }
  RefreshDisplay();
}

byte readEEPROM(int diskaddress, unsigned int memaddress) {
  byte rdata=0x00;
  Wire.beginTransmission(diskaddress); Wire.write(memaddress);
  if(Wire.endTransmission()==0) {
    Wire.requestFrom(diskaddress,1);
    if(Wire.available()) rdata=Wire.read(); else EEerr=1;
  } else EEerr=2;
  Wire.endTransmission(true); return rdata;
}

void writeEEPROM(int diskaddress, unsigned int memaddress, byte bytedata) {
  Wire.beginTransmission(diskaddress); Wire.write(memaddress); Wire.write(bytedata);
  if(Wire.endTransmission()!=0) EEerr=3;
  Wire.endTransmission(true); delay(5);
}

float roundZeroDec(float f) { float y=f*1, d=y-(int)y; y=(float)(int)(f*1)/1; if(d>=0.5) y+=1; else if(d<-0.5) y-=1; return y; }
float roundOneDec(float f) { float y=f*10, d=y-(int)y; y=(float)(int)(f*10)/10; if(d>=0.5) y+=0.1; else if(d<-0.5) y-=0.1; return y; }
float roundTwoDec(float f) { float y=f*100, d=y-(int)y; y=(float)(int)(f*100)/100; if(d>=0.5) y+=0.01; else if(d<-0.5) y-=0.01; return y; }

WatchDog sketch (voor Nano)

/* Watchdog voor CLIENT op Arduino NANO 3.0, Marco Zonca
   CLIENT moet Watchdog voeden vóór feedingInterval, anders herstart */
const int feedingPin = 14;
const int ledPin = 15;
const int restartPin = 16;
const int buzzerPin = 17;
const long ledInterval = 1000;
const long feedingInterval = 2500;
const long timeForClientStart = 16000;

int ledState = LOW, previousFeedingState = LOW, feedingState = LOW;
unsigned long previousLedMillis = 0, previousFeedingMillis = 0;

void setup() {
  digitalWrite(restartPin, HIGH);
  pinMode(ledPin, OUTPUT); pinMode(buzzerPin, OUTPUT); pinMode(restartPin, OUTPUT); pinMode(feedingPin, INPUT);
  delay(timeForClientStart);
}

void loop() {
  unsigned long currentMillis = millis();
  if (currentMillis - previousLedMillis >= ledInterval) {
    previousLedMillis = currentMillis;
    ledState = (ledState == LOW) ? HIGH : LOW;
    digitalWrite(ledPin, ledState);
  }
  feedingState = digitalRead(feedingPin);
  if (feedingState == HIGH) {
    if (previousFeedingState == LOW) previousFeedingMillis = currentMillis;
    previousFeedingState = HIGH;
  } else previousFeedingState = LOW;

  if (currentMillis - previousFeedingMillis > feedingInterval) {
    ledState = HIGH; digitalWrite(ledPin, ledState);
    tone(buzzerPin,1500); delay(500);
    digitalWrite(restartPin, LOW); tone(buzzerPin,1500); delay(500);
    digitalWrite(restartPin, HIGH); tone(buzzerPin,1500); delay(timeForClientStart);
    noTone(buzzerPin);
    currentMillis = millis();
    previousFeedingState = LOW; previousFeedingMillis = currentMillis; previousLedMillis = currentMillis;
  }
}

Custom parts en behuizingen

Schema's