arduino lcd display clock in stock
Variable names are in slovenian language but the comments are in english so probably you can understand it. The code is VERY unoptimised and takes a lot of RAM. But it works for me! I am using LCD4Bit library to write on the screen.
Sometimes it may be necessary to use a display while making a hardware project, but the size and the type of the display may vary according to the application. In a previous project, we used a 0.96″ I2C OLED display, and in this project we will have an I2C 20×4 character display.
This liquid crystal display has 4 lines, 20 character in each line and cannot be used to display graphics. The main feature of this display that it uses I2C interface, which means that you will need only two wires to connect with Arduino. At the back side of the screen there is a small PCB soldered in the display, this circuit is a serial LCD 20 x 4 module and it also has a small trimpot to adjust the contrast of the LCD.
Display’s backlight is blue and the text is white. It is fully compatible with Arduino and has 5V input voltage. Its I2C address could be 0x27 or 0x3F. You can get it for about $7 from Bangood store.
DS3231 is a low-cost, accurate I2C real-time clock (RTC), with an integrated temperature-compensated crystal oscillator (TCXO) and crystal. The device incorporates a battery input, so that if power is disconnected it maintains accurate time.
RTC maintains seconds, minutes, hours, day, date, month, and year information. Less than 31 days of the month, the end date will be automatically adjusted, including corrections for leap year. The clock operates in either the 24 hours or band / AM / PM indication of the 12-hour format. Provides two configurable alarm clock and a calendar can be set to a square wave output. Address and data are transferred serially through an I2C bidirectional bus.
First we need to download the library of the display, which includes all required functions to configure and write on the display. You can find it here.
Unzip the library and add it to the Arduino libraries folder, then run Arduino IDE and copy the following code. The first two lines are to include both of I2C and LCD libraries.
lcd.setCursor(3,0) will set the cursor of the LCD in the specified location, the first argument for the column and the second for the row starting form 0.
Here we will use a small breadboard to connect the RTC module and display with the Arduino’s I2C pins (A4 and A5). The SCL pins are connected with analog 5 pin and the SDA pins with analog 6 pin. The top rail of the breadboard used as I2C bus and the bottom one is power bus.
In addition to setup and loop function, we will create four other functions to organize the code. As the corners and vertical lines of the frame are special characters, we have to create them manually. So we will use a function to create them and another one to print them on the LCD.
Inside the loop function the time will be read from the real time clock module and the printed to the LCD using a custom function for each of time and date.
At first, we have to include the three libraries, I2C, LCD, and RTC and set the LCD address. Inside the setup function the display is initialized, then we will call createCustomCharacters() function and print them.
Each character can be 5-pixel long in width and 8-pixel in height. So to create a custom character we need to create a new byte. We need 5 characters, the vertical line and the four corners. The yellow pattern shows you how the character will be displayed on the LCD.
Inside createCustomCharacters() function, we called lcd.createChar(#, byte array) function. The LCD supports up to 8 custom characters numbered from 0 to 7. It will assign the index in the first argument to the character given by the byte array. To print this character we can use lcd.write(byte(#)) function.
This function is very simple, it uses lcd.setCursor(#,#) to move the cursor and lcd.print(“”) to print the given string. The function will print the top and bottom horizontal lines, then printing other custom characters.
As we discussed earlier, the loop function will get the current time and date every second and refresh them on the display. First we defined a time element “tm” which has current time data, then if the time is correct and the RTC module working fine the time and date will be printed.
PrintTime function uses three arguments, the column and line where it will print the time, and the time element. lcd.print(tm.Hour) will print the hour, then if the minutes and seconds are less than 10 we will add 0 to the left. And the same method is used to print the date.
Now everything is ready, upload the code to your Arduino and enjoy watching your new clock. You can find the full Arduino sketches and libraries in the attachment below.
/* Arduino "Clock" with LCD (20x4) I2C.This I2C LCD backpack contains the PCF8574 port-expanderIC. Beware that this sketch can work with backpacks thatcontains this IC, but may not work with variations.Components:- Arduino Uno- LCD I2C (20x4)Libraries:- LiquidCrystal_I2C libraryCreated on 25 June 2022 by c010rblind3ngineer*/#include
The basic code is taken from simple-circuit web page And I made a few changes : For simplicity, I added an I2C module to the LCD display and modified the code accordingly. I also added a small buzzer that generates sound with a given frequency while the alarm is active.
The DS3231 board is supplied with 5V as the 20x4 LCD and the IR receiver, this 5V comes from the Arduino board, there are 3 data lined connected between this board and the Arduino, SCL line is connected to analog pin 5, SDA is connected to analog pin 4 and INT line is connected to digital pin 2 which is the external interrupt pin of the Arduino (INT0). The DS3231 interrupts the microcontroller when there is an alarm (alarm1 or alarm2). The IR receiver has 3 pins: GND, VCC and OUT where the OUT pin is connected to Arduino pin 3 which is external interrupt pin (INT1). The LED which is connected to Arduino pin 10 is used as an alarm indicator (alarm1 or alarm2), so if there is an alarm the DS3231 pulls down the INT pin which interrupts the microcontroller (ATmega328P) and the microcontroller turns the LED ON, here a button on the remote control turns both the LED and the occurred alarm OFF. We need to decode our remote control in order to know the code of each button because we’ve to add it in the Arduino software (code).
· Operating voltage: 5V· Alphanumeric character set· 4 lines of 20 characters· Blue Backlight· Module size: 98 x 60 x12mm· Display size: 75 x 25mm· I2C 2-wire connection· Built-in Contrast Adjustment
The code uses a PIR movement detector to turn the LCD display on and off. This Library is able to decode the DCF77 signal even if it contains a massive amount of noise. The library also "auto tunes" the Arduino Quartz crystal in the rare event the DCF77 signal is lost (no backup RTC required). For this Library to work your Arduino must use a Quartz crystal as a timebase not a problem if you build your own Arduino as I have. If you are using an Arduino Uno a Quartz crystal can be added my modding the UNO board. See how to do it here Mod standard Uno
As this clock drives other slave clocks as well as the built in analogue display this row monitors the main decoded display and it detects a jump in the seconds backwards or forwards. These will be shown as fast or slow seconds on Row 2 along with the date and time they were detected. On initial power up there are no fast or slow pulses so Row 2 Slow Pulse will be "0" and the date and time indicates when the clock was first power up and synchronized. The Fast Pulse will also show "0" but the date and time will show as "Never" The only time you would expect to see a Slow or Fast pulse detected is if the DCF77 signal was removed for several days then reconnected or if a leap second is injected (fast pulse)
Row 4 Sig Match - Once locked into the DCF77 signal Udo Klein"s library can predict what the next signal pulse should be. The Signal Match displayed as a percentage shows the quality of the received signal. 100% being a perfect match to the predicted signal.
Row 4 also shows the tuned accuracy of the quartz crystal. Once the clock has run for a number of days the accuracy of the quartz crystal is tuned until it reaches a max accuracy of 1Hz.
The attained accuracy is displayed. This is fully dynamic so the quartz crystal is continually tuned no matter the temperature or age drift of the crystal. Remember this is not the accuracy of the clock but the accuracy of the quartz crystal if the DCF77 signal was to fail.
In this tutorial, we will discuss the purpose of getting the current date and time on the Arduino, what is a Real-Time Clock, what is a DS3231 RTC module and we will build a project using a DS3231 RTC module, a 16×2 I2C LCD and an Arduino Uno.
Keeping track of the current date/time for an Arduino has many purposes. One use for it is for recording/log purposes. For example, an Arduino Weather Station needs timestamps in recording weather data. Another example is for an Arduino digital clock or calendar. Arduino-based clocks use the current time as a timer for reminders or to execute a scheduled command via the Arduino’s I/O pins. Depending on the project, having a way to get the current date and time is very useful.
Real-Time Clock (RTC) – A Real-Time Clock, or RTC for short, is an integrated circuit that keeps track of time. It uses a back-up battery to maintain the time in the event that the main power source is removed.
Time Server– A Time Server is a computer on a network that reads the time from some reference clock and distributes it to the network. The clock source of a time server can be another time server, an atomic clock, or a radio clock.
If you want to learn how to communicate with an internet time server to get the current time and date, please read How to Keep Track of the Date and Time on an Arduino.
The DS3231 RTC module is a real-time clock module using the DS3231 IC. The DS3231 IC is a very affordable and extremely accurate RTC with an I2C interface. It is very accurate because it uses an integrated temperature-compensated crystal oscillator (TCXO) along with a crystal. To keep track of time even if the main power source is removed, the DS3231 has a backup battery mounted at the back of the module. The chip automatically switches between main and backup power sources when necessary.
The RTC keeps track of seconds, minutes, hours, day, date, month, and year data. It also automatically adjusts for months with less than 31 days and also for leap years. The clock can operate in either 24H or 12H (with AM/PM) formats. There are also two programmable time-of-day alarms and also a programmable square-wave output. Communication with the RTC is done through an I2C interface with a fixed default address of 0x68.
After learning about timekeeping and the DS3231 RTC, it is now time to build a project using the DS3231 RTC. For this project, we will make a simple Arduino Calendar Clock using a DS3231 module, a 16×2 I2C LCD, and an Arduino Uno board.
If you want to learn more about the Arduino, check out our Ultimate Guide to the Arduino video course. You’ll learn basic to advanced Arduino programming and circuit building techniques that will prepare you to build any project.
To start our sketch, add the abovementioned libraries to our code by using the keyword #include. We will also initialize two objects lcd() and rtc to be used for communicating with the LCD and DS3231 respectively.
The first function we will code is the function updateRTC(). This function will be responsible for asking the user for the date and time and updating the RTC’s internal clock with the user’s input data. After getting the user input, we can update the RTC’s internal clock by using the function rtc.adjust() from the RTCLib.h library. The rtc.adjust() function receives a parameter with type DataTime which it uses to update the rtc’s internal time and date.
The second custom function we will create is the function updateLCD(). This function will update or refresh the text displayed on the LCD. Inside this function, we will first get the time and date from the RTC. This is done by calling rtc.now() function which is included in the RTCLib.h library.
The function rtc.now() in our code returns a DateTime data type that contains the current date and time of the rtc. We then assign the data to different variables for additional formatting on the LCD. After assigning the variables, we use the functions lcd.setCursor() and lcd.print() from the LiquidCrystal_I2C.hto position the cursor and to display the text respectively on the LCD. The code below shows how these functions come together to get the rtc time, format the text and display it to the LCD.
Inside setup(), we will initialize the serial interface, the lcd and the rtc objects. To initialize the serial with a baud rate of 9600 bps, we will use the code Serial.begin(9600);. For the LCD, we need to initialize the LCD object and switch-on the backlight of the display. This is achieved by the codes lcd.init(); and lcd.backlight();. And finally, we add the code rtc.begin(); to initialize the rtc object.
For the loop() function, we will update the text displayed on the LCD by calling updateLCD();. We will also add the capability to accept user input to update the RTC’s internal clock. If the user sends the char ‘u’ via the serial monitor, it means the user wants to modify the set time and date of the rtc. If this is the case, then we call the function updateRTC(); to handle user input and update the RTC internal clock.
In summary, an RTC module is an easy and inexpensive way to add timekeeping capability to an Arduino based project. This tutorial just showed the basic capability of the DS3231 RTC module. And with more tinkering, you can find lots of uses for this module. Feel free to leave a comment below if you have any questions.
I was trying to use your code to display the same date & time as my monitor on my LCD 16x2. It mostly works, but instead of displaying 14:05, maybe 07:05, it respectively displays 14:5 & 7:5 or 70:5. How to solve this?
Hi I don"t know what I am doing wrong but I get this error when I compile the code in the Arduino IDE: "RTClib.h:5: error: redefinition of "RTC_DS1307 RTC""
Along 3 years I have been trying several leg mechanism, at first I decided to do a simple desing with tibial motor where placed on femur joint.This design had several problems, like it wasn"t very robust and the most importat is that having the motor (with big mass) that far from the rotating axis, caused that in some movements it generate unwanted dynamics to the robot body, making controlability worse.New version have both motors of femur/tibial limb at coxa frame, this ends with a very simple setup and at the same time, the heaviest masses of the mechanism are centered to the rotating axis of coxa limb, so even though the leg do fast movements, inertias won"t be strong enough to affect the hole robot mass, achieving more agility.Inverse Kinematics of the mechanismAfter building it I notice that this mechanism was very special for another reason, at the domain the leg normally moves, it acts as a diferential mecanism, this means that torque is almost all the time shared between both motor of the longer limbs. That was an improvent since with the old mechanism tibial motor had to hold most of the weight and it was more forced than the one for femur.To visualize this, for the same movement, we can see how tibial motor must travel more arc of angel that the one on the new version.In order to solve this mechanism, just some trigonometry is needed. Combining both cosine and sine laws, we can obtain desired angle (the one between femur and tibia) with respect to the angle the motor must achieve.Observing these equations, with can notice that this angle (the one between femur and tibia) depends on both servos angles, which means both motors are contributing to the movement of the tibia.Calibration of servosAnother useful thing to do if we want to control servo precisely is to print a calibration tool for our set up. As shown in the image below, in order to know where real angles are located, angle protactor is placer just in the origin of the rotating joint, and choosing 2 know angles we can match PWM signal to the real angles we want to manipulate simply doing a lineal relation between angles and PWM pulse length.Then a simple program in the serial console can be wrtten to let the user move the motor to the desired angle. This way the calibration process is only about placing motor at certain position and everything is done and we won"t need to manually introduce random values that can be a very tedious task.With this I have achieved very good calibrations on motors, which cause the robot to be very simetrial making the hole system more predictable. Also the calibration procedure now is very easy to do, as all calculations are done automatically. Check Section 1 for the example code for calibration.More about this can be seen in the video below, where all the building process is shown as well as the new leg in action.SECTION 1:In the example code below, you can see how calibration protocol works, it is just a function called calibrationSecuence() which do all the work until calibration is finished. So you only need to call it one time to enter calibration loop, for example by sending a "c" character thought the serial console.Also some useful function are used, like moving motor directly with analogWrite functions which all the calculations involved, this is a good point since no interrupts are used.This code also have the feature to calibrate the potentiometer coming from each motor.#define MAX_PULSE 2500 #define MIN_PULSE 560 /*---------------SERVO PIN DEFINITION------------------------*/ int m1 = 6;//FR int m2 = 5; int m3 = 4; int m4 = 28;//FL int m5 = 29; int m6 = 36; int m7 = 3;//BR int m8 = 2; int m9 = 1; int m10 = 7;//BL int m11 = 24; int m12 = 25; int m13 = 0;//BODY /*----------------- CALIBRATION PARAMETERS OF EACH SERVO -----------------*/ double lowLim[13] = {50, 30, 30, 50, 30, 30, 50, 30, 30, 50, 30, 30, 70}; double highLim[13] = {130, 150, 150, 130, 150, 150, 130, 150, 150, 130, 150, 150, 110}; double a[13] = { -1.08333, -1.06667, -1.07778, //FR -1.03333, 0.97778, 1.01111, //FL 1.03333, 1.05556, 1.07778, //BR 1.07500, -1.07778, -1.00000, //BL 1.06250 }; double b[13] = {179.0, 192.0, 194.5, //FR 193.0, 5.5, -7.5, //FL 7.0, -17.0, -16.0, //BR -13.5, 191.5, 157.0, //BL -0.875 }; double ae[13] = {0.20292, 0.20317, 0.19904 , 0.21256, -0.22492, -0.21321, -0.21047, -0.20355, -0.20095, -0.20265, 0.19904, 0.20337, -0.20226 }; double be[13] = { -18.59717, -5.70512, -2.51697, -5.75856, 197.29411, 202.72169, 185.96931, 204.11902, 199.38663, 197.89534, -5.33768, -32.23424, 187.48058 }; /*--------Corresponding angles you want to meassure at in your system-----------*/ double x1[13] = {120, 135, 90, 60, 135 , 90, 120, 135, 90, 60, 135, 90, 110}; //this will be the first angle you will meassure double x2[13] = {60, 90, 135, 120, 90, 135, 60, 90, 135, 120, 90, 135, 70};//this will be the second angle you will meassure for calibration /*--------You can define a motor tag for each servo--------*/ String motorTag[13] = {"FR coxa", "FR femur", "FR tibia", "FL coxa", "FL femur", "FL tibia", "BR coxa", "BR femur", "BR tibia", "BL coxa", "BL femur", "BL tibia", "Body angle" }; double ang1[13] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}; double ang2[13] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}; float xi[500]; float yi[500]; float fineAngle; float fineL; float fineH; int motorPin; int motor = 0; float calibrationAngle; float res = 1.0; float ares = 0.5; float bres = 1.0; float cres = 4.0; float rawAngle; float orawAngle; char cm; char answer; bool interp = false; bool question = true; bool swing = false; int i; double eang; int freq = 100; // PWM frecuency can be choosen here. void connectServos() { analogWriteFrequency(m1, freq); //FR coxa digitalWrite(m1, LOW); pinMode(m1, OUTPUT); analogWriteFrequency(m2, freq); //femur digitalWrite(m2, LOW); pinMode(m2, OUTPUT); analogWriteFrequency(m3, freq); //tibia digitalWrite(m3, LOW); pinMode(m3, OUTPUT); analogWriteFrequency(m4, freq); //FL coxa digitalWrite(m4, LOW); pinMode(m4, OUTPUT); analogWriteFrequency(m5, freq); //femur digitalWrite(m5, LOW); pinMode(m5, OUTPUT); analogWriteFrequency(m6, freq); //tibia digitalWrite(m6, LOW); pinMode(m6, OUTPUT); analogWriteFrequency(m7, freq); //FR coxa digitalWrite(m7, LOW); pinMode(m7, OUTPUT); analogWriteFrequency(m8, freq); //femur digitalWrite(m8, LOW); pinMode(m8, OUTPUT); analogWriteFrequency(m9, freq); //tibia digitalWrite(m9, LOW); pinMode(m9, OUTPUT); analogWriteFrequency(m10, freq); //FR coxa digitalWrite(m10, LOW); pinMode(m10, OUTPUT); analogWriteFrequency(m11, freq); //femur digitalWrite(m11, LOW); pinMode(m11, OUTPUT); analogWriteFrequency(m12, freq); //tibia digitalWrite(m12, LOW); pinMode(m12, OUTPUT); analogWriteFrequency(m13, freq); //body digitalWrite(m13, LOW); pinMode(m13, OUTPUT); } void servoWrite(int pin , double angle) { float T = 1000000.0f / freq; float usec = float(MAX_PULSE - MIN_PULSE) * (angle / 180.0) + (float)MIN_PULSE; uint32_t duty = int(usec / T * 4096.0f); analogWrite(pin , duty); } double checkLimits(double angle , double lowLim , double highLim) { if ( angle >= highLim ) { angle = highLim; } if ( angle <= lowLim ) { angle = lowLim; } return angle; } int motorInfo(int i) { enc1 , enc2 , enc3 , enc4 , enc5 , enc6 , enc7 , enc8 , enc9 , enc10 , enc11 , enc12 , enc13 = readEncoders(); if (i == 0) { rawAngle = enc1; motorPin = m1; } else if (i == 1) { rawAngle = enc2; motorPin = m2; } else if (i == 2) { rawAngle = enc3; motorPin = m3; } else if (i == 3) { rawAngle = enc4; motorPin = m4; } else if (i == 4) { rawAngle = enc5; motorPin = m5; } else if (i == 5) { rawAngle = enc6; motorPin = m6; } else if (i == 6) { rawAngle = enc7; motorPin = m7; } else if (i == 7) { rawAngle = enc8; motorPin = m8; } else if (i == 8) { rawAngle = enc9; motorPin = m9; } else if (i == 9) { rawAngle = enc10; motorPin = m10; } else if (i == 10) { rawAngle = enc11; motorPin = m11; } else if (i == 11) { rawAngle = enc12; motorPin = m12; } else if (i == 12) { rawAngle = enc13; motorPin = m13; } return rawAngle , motorPin; } void moveServos(double angleBody , struct vector anglesServoFR , struct vector anglesServoFL , struct vector anglesServoBR , struct vector anglesServoBL) { //FR anglesServoFR.tetta = checkLimits(anglesServoFR.tetta , lowLim[0] , highLim[0]); fineAngle = a[0] * anglesServoFR.tetta + b[0]; servoWrite(m1 , fineAngle); anglesServoFR.alpha = checkLimits(anglesServoFR.alpha , lowLim[1] , highLim[1]); fineAngle = a[1] * anglesServoFR.alpha + b[1]; servoWrite(m2 , fineAngle); anglesServoFR.gamma = checkLimits(anglesServoFR.gamma , lowLim[2] , highLim[2]); fineAngle = a[2] * anglesServoFR.gamma + b[2]; servoWrite(m3 , fineAngle); //FL anglesServoFL.tetta = checkLimits(anglesServoFL.tetta , lowLim[3] , highLim[3]); fineAngle = a[3] * anglesServoFL.tetta + b[3]; servoWrite(m4 , fineAngle); anglesServoFL.alpha = checkLimits(anglesServoFL.alpha , lowLim[4] , highLim[4]); fineAngle = a[4] * anglesServoFL.alpha + b[4]; servoWrite(m5 , fineAngle); anglesServoFL.gamma = checkLimits(anglesServoFL.gamma , lowLim[5] , highLim[5]); fineAngle = a[5] * anglesServoFL.gamma + b[5]; servoWrite(m6 , fineAngle); //BR anglesServoBR.tetta = checkLimits(anglesServoBR.tetta , lowLim[6] , highLim[6]); fineAngle = a[6] * anglesServoBR.tetta + b[6]; servoWrite(m7 , fineAngle); anglesServoBR.alpha = checkLimits(anglesServoBR.alpha , lowLim[7] , highLim[7]); fineAngle = a[7] * anglesServoBR.alpha + b[7]; servoWrite(m8 , fineAngle); anglesServoBR.gamma = checkLimits(anglesServoBR.gamma , lowLim[8] , highLim[8]); fineAngle = a[8] * anglesServoBR.gamma + b[8]; servoWrite(m9 , fineAngle); //BL anglesServoBL.tetta = checkLimits(anglesServoBL.tetta , lowLim[9] , highLim[9]); fineAngle = a[9] * anglesServoBL.tetta + b[9]; servoWrite(m10 , fineAngle); anglesServoBL.alpha = checkLimits(anglesServoBL.alpha , lowLim[10] , highLim[10]); fineAngle = a[10] * anglesServoBL.alpha + b[10]; servoWrite(m11 , fineAngle); anglesServoBL.gamma = checkLimits(anglesServoBL.gamma , lowLim[11] , highLim[11]); fineAngle = a[11] * anglesServoBL.gamma + b[11]; servoWrite(m12 , fineAngle); //BODY angleBody = checkLimits(angleBody , lowLim[12] , highLim[12]); fineAngle = a[12] * angleBody + b[12]; servoWrite(m13 , fineAngle); } double readEncoderAngles() { enc1 , enc2 , enc3 , enc4 , enc5 , enc6 , enc7 , enc8 , enc9 , enc10 , enc11 , enc12 , enc13 = readEncoders(); eang1 = ae[0] * enc1 + be[0]; eang2 = ae[1] * enc2 + be[1]; eang3 = ae[2] * enc3 + be[2]; eang4 = ae[3] * enc4 + be[3]; eang5 = ae[4] * enc5 + be[4]; eang6 = ae[5] * enc6 + be[5]; eang7 = ae[6] * enc7 + be[6]; eang8 = ae[7] * enc8 + be[7]; eang9 = ae[8] * enc9 + be[8]; eang10 = ae[9] * enc10 + be[9]; eang11 = ae[10] * enc11 + be[10]; eang12 = ae[11] * enc12 + be[11]; eang13 = ae[12] * enc13 + be[12]; return eang1 , eang2 , eang3 , eang4 , eang5 , eang6 , eang7 , eang8 , eang9 , eang10 , eang11 , eang12 , eang13; } void calibrationSecuence( ) { //set servos at their middle position at firstt for (int i = 0; i <= 12; i++) { rawAngle , motorPin = motorInfo(i); servoWrite(motorPin , 90); } // sensorOffset0 = calibrateContacts(); Serial.println(" "); Serial.println("_________________________________SERVO CALIBRATION ROUTINE_________________________________"); Serial.println("___________________________________________________________________________________________"); Serial.println("(*) Don"t send several caracter at the same time."); delay(500); Serial.println(" "); Serial.println("Keyboard: "x"-> EXIT CALIBRATION. "c"-> ENTER CALIBRATION."); Serial.println(" "i"-> PRINT INFORMATION. "); Serial.println(" "); Serial.println(" "n"-> CHANGE MOTOR (+). "b" -> CHANGE MOTOR (-)."); Serial.println(" "m"-> START CALIBRATION."); Serial.println(" "q"-> STOP CALIBRATION."); Serial.println(" "); Serial.println(" "r"-> CHANGE RESOLUTION."); Serial.println(" "p"-> ADD ANGLE. "o"-> SUBTRACT ANGLE. "); Serial.println(" "s"-> SAVE ANGLE."); delay(500); Serial.println(" "); Serial.println("---------------------------------------------------------------------------------------------------"); Serial.print("SELECTED MOTOR: "); Serial.print(motorTag[motor]); Serial.print(". SELECTED RESOLUTION: "); Serial.println(res); while (CAL == true) { if (Serial.available() > 0) { cm = Serial.read(); if (cm == "x") { Serial.println("Closing CALIBRATION program..."); CAL = false; secuence = false; startDisplay(PAGE); angleBody = 90; anglesIKFR.tetta = 0.0; anglesIKFR.alpha = -45.0; anglesIKFR.gamma = 90.0; anglesIKFL.tetta = 0.0; anglesIKFL.alpha = -45.0; anglesIKFL.gamma = 90.0; anglesIKBR.tetta = 0.0; anglesIKBR.alpha = 45.0; anglesIKBR.gamma = -90.0; anglesIKBL.tetta = 0.0; anglesIKBL.alpha = 45.0; anglesIKBL.gamma = -90.0; } else if (cm == "i") { // + Serial.println(" "); Serial.println("---------------------------------------------------------------------------------------------------"); Serial.println("---------------------------------------------------------------------------------------------------"); Serial.println("(*) Don"t send several caracter at the same time."); delay(500); Serial.println(" "); Serial.println("Keyboard: "x"-> EXIT CALIBRATION. "c"-> ENTER CALIBRATION."); Serial.println(" "i"-> PRINT INFORMATION. "); Serial.println(" "); Serial.println(" "n"-> CHANGE MOTOR (+). "b" -> CHANGE MOTOR (-)."); Serial.println(" "m"-> START CALIBRATION."); Serial.println(" "q"-> STOP CALIBRATION."); Serial.println(" "); Serial.println(" "r"-> CHANGE RESOLUTION."); Serial.println(" "p"-> ADD ANGLE. "o"-> SUBTRACT ANGLE. "s"-> SAVE ANGLE."); Serial.println(" "); delay(500); Serial.println(" "); Serial.println("---------------------------------------------------------------------------------------------------"); Serial.println(" "); Serial.print("SELECTED MOTOR: "); Serial.print(motorTag[motor]); Serial.print(". SELECTED RESOLUTION: "); Serial.println(res); Serial.println("Actual parameters of the motor: "); Serial.print("High limit: "); Serial.print(highLim[motor]); Serial.print(" Low limit: "); Serial.print(lowLim[motor]); Serial.print(" Angle 1: "); Serial.print(ang1[motor]); Serial.print(" Angle 2: "); Serial.println(ang2[motor]); Serial.println("---------------------------------------------------------------------------------------------------"); } else if (cm == "m") { // + secuence = true; } else if (cm == "s") { // + } else if (cm == "n") { // + motor++; if (motor >= 13) { motor = 0; } Serial.print("SELECTED MOTOR: "); Serial.println(motorTag[motor]); } else if (cm == "b") { // + motor--; if (motor < 0) { motor = 13 - 1; } Serial.print("SELECTED MOTOR: "); Serial.println(motorTag[motor]); } else if (cm == "r") { // + if (res == ares) { res = bres; } else if (res == bres) { res = cres; } else if (res == cres) { res = ares; } Serial.print("SELECTED RESOLUTION: "); Serial.println(res); } } if (secuence == true) { Serial.print("Starting secuence for motor: "); Serial.println(motorTag[motor]); for (int i = 0; i <= 30; i++) { delay(20); Serial.print("."); } Serial.println("."); while (question == true) { unsigned long currentMicros = micros(); if (currentMicros - previousMicros >= 100000) { previousMicros = currentMicros; if (Serial.available() > 0) { answer = Serial.read(); if (answer == "y") { question = false; interp = true; secuence = true; } else if (answer == "n") { question = false; interp = false; secuence = true; } else { Serial.println("Please, select Yes(y) or No(n)."); } } } } answer = "t"; question = true; if (interp == false) { Serial.println("___"); Serial.println(" | Place motor at 1ts position and save angle"); Serial.println(" | This position can be the higher one"); rawAngle , motorPin = motorInfo(motor); calibrationAngle = 90; //start calibration at aproximate middle position of the servo. while (secuence == true) { /* find first calibration angle */ if (Serial.available() > 0) { cm = Serial.read(); if (cm == "p") { // + Serial.print(" | +"); Serial.print(res); Serial.print(" : "); calibrationAngle = calibrationAngle + res; servoWrite(motorPin , calibrationAngle); Serial.println(calibrationAngle); } else if (cm == "o") { // - Serial.print(" | -"); Serial.print(res); Serial.print(" : "); calibrationAngle = calibrationAngle - res; servoWrite(motorPin , calibrationAngle); Serial.println(calibrationAngle); } else if (cm == "r") { // + if (res == ares) { res = bres; } else if (res == bres) { res = cres; } else if (res == cres) { res = ares; } Serial.print("SELECTED RESOLUTION: "); Serial.println(res); } else if (cm == "q") { // quit secuence secuence = false; Serial.println(" | Calibration interrupted!!"); } else if (cm == "s") { // save angle ang1[motor] = calibrationAngle; secuence = false; Serial.print(" | Angle saved at "); Serial.println(calibrationAngle); } } } if (cm == "q") { Serial.println(" |"); } else { secuence = true; Serial.println("___"); Serial.println(" | Place motor at 2nd position and save angle"); Serial.println(" | This position can be the lower one"); } while (secuence == true) { /* find second calibration angle */ if (Serial.available() > 0) { cm = Serial.read(); if (cm == "p") { // + Serial.print(" | +"); Serial.print(res); Serial.print(" : "); calibrationAngle = calibrationAngle + res; servoWrite(motorPin , calibrationAngle); Serial.println(calibrationAngle); } else if (cm == "o") { // - Serial.print(" | -"); Serial.print(res); Serial.print(" : "); calibrationAngle = calibrationAngle - res; servoWrite(motorPin , calibrationAngle); Serial.println(calibrationAngle); } else if (cm == "r") { // + if (res == ares) { res = bres; } else if (res == bres) { res = cres; } else if (res == cres) { res = ares; } Serial.print("SELECTED RESOLUTION: "); Serial.println(res); } else if (cm == "q") { // quit secuence secuence = false; Serial.println(" | Calibration interrupted!!"); } else if (cm == "s") { // save angle ang2[motor] = calibrationAngle; secuence = false; Serial.print(" | Angle saved at "); Serial.println(calibrationAngle); } } } /*--------------------start calibration calculations------------------*/ if (cm == "q") { Serial.println("___|"); Serial.println("Calibration finished unespected."); Serial.println(" Select another motor."); Serial.print("SELECTED MOTOR: "); Serial.print(motorTag[motor]); Serial.print(". SELECTED RESOLUTION: "); Serial.println(res); } else { Serial.println("___"); Serial.println(" |___"); Serial.print( " | | Interpolating for motor: "); Serial.println(motorTag[motor]); secuence = true; //real angle is calculated interpolating both angles to a linear relation. a[motor] = (ang2[motor] - ang1[motor]) / (x2[motor] - x1[motor]); b[motor] = ang1[motor] - x1[motor] * (ang2[motor] - ang1[motor]) / (x2[motor] - x1[motor]); Serial.println(" | |"); } interp = true; } /*---------------------------make swing movement to interpolate motor encoder-----*/ if (interp == true and secuence == true) { delay(200); double x; int k = 0; int stp = 180; swing = true; i = 0; orawAngle , motorPin = motorInfo(motor); previousMicros = 0; while (swing == true) { // FIRST unsigned long currentMicros = micros(); if (currentMicros - previousMicros >= 10000) { // save the last time you blinked the LED previousMicros = currentMicros; x = x2[motor]; calibrationAngle = a[motor] * x + b[motor]; servoWrite(motorPin , calibrationAngle); rawAngle , motorPin = motorInfo(motor); if ((i % 3) == 0) { yi[k+1] = x; xi[k] = rawAngle; Serial.print(" | | Real ang: "); Serial.print(x); Serial.print(" -> Servo ang: "); Serial.print(calibrationAngle); Serial.print(" Enc: "); Serial.println(rawAngle); k++; } if (i >= stp) { swing = false; } i++; } } swing = true; i = 0; while (swing == true) { // moving unsigned long currentMicros = micros(); if (currentMicros - previousMicros >= 10000) { // save the last time you blinked the LED previousMicros = currentMicros; x = x2[motor] + float(i) * (x1[motor] - x2[motor]) / stp; calibrationAngle = a[motor] * x + b[motor]; servoWrite(motorPin , calibrationAngle); rawAngle , motorPin = motorInfo(motor); if ((i % 6) == 0) { yi[k+1] = x; xi[k] = rawAngle; Serial.print(" | | Real ang: "); Serial.print(x); Serial.print(" -> Servo ang: "); Serial.print(calibrationAngle); Serial.print(" Enc: "); Serial.println(rawAngle); k++; } if (i >= stp) { swing = false; } i++; } } swing = true; i = 0; while (swing == true) { // SECOND unsigned long currentMicros = micros(); if (currentMicros - previousMicros >= 10000) { // save the last time you blinked the LED previousMicros = currentMicros; x = x1[motor]; calibrationAngle = a[motor] * x + b[motor]; servoWrite(motorPin , calibrationAngle); rawAngle , motorPin = motorInfo(motor); if ((i % 3) == 0) { yi[k+1] = x; xi[k] = rawAngle; Serial.print(" | | Real ang: "); Serial.print(x); Serial.print(" -> Servo ang: "); Serial.print(calibrationAngle); Serial.print(" Enc: "); Serial.println(rawAngle); k++; } if (i >= stp) { swing = false; } i++; } } swing = true; i = 0; while (swing == true) { // moving unsigned long currentMicros = micros(); if (currentMicros - previousMicros >= 10000) { // save the last time you blinked the LED previousMicros = currentMicros; x = x1[motor] + float(i) * (x2[motor] - x1[motor]) / stp; calibrationAngle = a[motor] * x + b[motor]; servoWrite(motorPin , calibrationAngle); rawAngle , motorPin = motorInfo(motor); if ((i % 6) == 0) { yi[k+1] = x; xi[k] = rawAngle; Serial.print(" | | Real ang: "); Serial.print(x); Serial.print(" -> Servo ang: "); Serial.print(calibrationAngle); Serial.print(" Enc: "); Serial.println(rawAngle); k++; } if (i >= stp) { swing = false; } i++; } } swing = true; i = 0; while (swing == true) { // FIRST unsigned long currentMicros = micros(); if (currentMicros - previousMicros >= 10000) { // save the last time you blinked the LED previousMicros = currentMicros; x = x2[motor]; calibrationAngle = a[motor] * x + b[motor]; servoWrite(motorPin , calibrationAngle); rawAngle , motorPin = motorInfo(motor); if ((i % 3) == 0) { yi[k+1] = x; xi[k] = rawAngle; Serial.print(" | | Real ang: "); Serial.print(x); Serial.print(" -> Servo ang: "); Serial.print(calibrationAngle); Serial.print(" Enc: "); Serial.println(rawAngle); k++; } if (i >= stp) { swing = false; } i++; } } swing = true; i = 0; while (swing == true) { // moving unsigned long currentMicros = micros(); if (currentMicros - previousMicros >= 10000) { // save the last time you blinked the LED previousMicros = currentMicros; x = x2[motor] + float(i) * (x1[motor] - x2[motor]) / stp; calibrationAngle = a[motor] * x + b[motor]; servoWrite(motorPin , calibrationAngle); rawAngle , motorPin = motorInfo(motor); if ((i % 6) == 0) { yi[k+1] = x; xi[k] = rawAngle; Serial.print(" | | Real ang: "); Serial.print(x); Serial.print(" -> Servo ang: "); Serial.print(calibrationAngle); Serial.print(" Enc: "); Serial.println(rawAngle); k++; } if (i >= stp) { swing = false; } i++; } } swing = true; i = 0; while (swing == true) { // SECOND unsigned long currentMicros = micros(); if (currentMicros - previousMicros >= 10000) { // save the last time you blinked the LED previousMicros = currentMicros; x = x1[motor]; calibrationAngle = a[motor] * x + b[motor]; servoWrite(motorPin , calibrationAngle); rawAngle , motorPin = motorInfo(motor); if ((i % 3) == 0) { yi[k+1] = x; xi[k] = rawAngle; Serial.print(" | | Real ang: "); Serial.print(x); Serial.print(" -> Servo ang: "); Serial.print(calibrationAngle); Serial.print(" Enc: "); Serial.println(rawAngle); k++; } if (i >= stp) { swing = false; } i++; } } Serial.println(" | | Interpolation finished!"); /*-------Calculate linear interpolation of the encoder from 60 meassures done in swing------*/ double sx = 0; double sy = 0; double sx2 = 0; double sy2 = 0; double sxy = 0; double xmean = 0; double ymean = 0; int n = 300; for (int i = 0 ; i < n ; i++) { sx += xi[i+10]; sy += yi[i+10]; sx2 += xi[i+10] * xi[i+10]; sy2 += yi[i+10] * yi[i+10]; sxy += xi[i+10] * yi[i+10]; } ae[motor] = (n * sxy - sx * sy) / (n * sx2 - sx * sx); //sxy / sx2; // be[motor] = (sy - ae[motor] * sx) / n; //ymean - ae[motor] * xmean; Serial.println(" | | Moving back to ZERO position."); // turn the motor back to middle position swing = true; i = 0; while (swing == true) { unsigned long currentMicros = micros(); if (currentMicros - previousMicros >= 10000) { // save the last time you blinked the LED previousMicros = currentMicros; x = x1[motor] + float(i) * (90 - x1[motor]) / 60; calibrationAngle = a[motor] * x + b[motor]; servoWrite(motorPin , calibrationAngle); rawAngle , motorPin = motorInfo(motor); eang = ae[motor] * rawAngle + be[motor]; if ((i % 4) == 0) { Serial.print(" | | Servo ang: "); Serial.print(calibrationAngle); Serial.print(" -> Real ang: "); Serial.print(x); Serial.print(" -> Encoder ang: "); Serial.println(eang); } if (i >= 60) { swing = false; } i++; } } Serial.println("___|___|"); Serial.println(" | "); Serial.println("___"); Serial.println(" | Calibration finished satisfactory. Results data:"); Serial.print(" | HIGH lim: "); Serial.print(highLim[motor]); Serial.print(" LOW lim: "); Serial.println(lowLim[motor]); Serial.print(" | angle 1: "); Serial.print(ang1[motor]); Serial.print(" angle 2 "); Serial.println(ang2[motor]); Serial.print(" | Regression Motor a: "); Serial.print(a[motor], 5); Serial.print(" b: "); Serial.println(b[motor], 5); Serial.print(" | Regression Encoder a: "); Serial.print(ae[motor], 5); Serial.print(" b: "); Serial.println(be[motor], 5); Serial.println(" |"); Serial.println(" | ______________________________________________________________"); Serial.println(" | | |"); Serial.println(" | | This code won"t be able to save the updated parameters |"); Serial.println(" | | once the robot is shutted down. |"); Serial.println(" | | |"); Serial.println(" | | Please, write down the results |"); Serial.println(" | | and save them in the definition of each variable. |"); Serial.println(" | |_____________________________________________________________|"); Serial.println(" |"); Serial.println("___|"); Serial.println(" Select another motor."); Serial.print("SELECTED MOTOR: "); Serial.print(motorTag[motor]); Serial.print(". SELECTED RESOLUTION: "); Serial.println(res); } interp = false; secuence = false; } } SAFE = false; Serial.println("Calibration killed"); } // END OF CALIBRATION
Display units play an important role in establishing good communication between the human and machine worlds. And so they are a big part of embedded systems.
The 16×2 LCD Screen will have a total of 32 characters, 16 in the 1st line, and a further 16 in the 2nd line. In 16×2 LCD there are 16 pins overall if there are backlight, 14 pins if there is no backlight. In each character, there are 50 pixels.
LiquidCrystal.h is a type of header file. SetCursor is a function that is present in the LiquidCrystal.h header file. With the help of this function, we fix the coordinate in the LCD Display.
Lcd.begin(16,2), 16×2 means that the LCD has 2 lines, and can display 16 characters per line. Therefore, a 16×2 LCD screen can display up to 32 characters at once.
Hello guys, welcome back to my SriTu Hobby blog. This tutorial includes how to make an Arduino clock. Also, we can use this Arduino LCD clock for the bedroom, study desk, office room, etc. So, this project mainly used the Arduino UNO board, RTC module, and LCD. Through this, you can see the temperature in addition to the date and time. They can be viewed through the LCD display. If you are not already familiar with the RTC module, For that, go to the RTC Module Tutorial.
This Arduino LCD clock is based on the Arduino UNO board. Also, an RTC module is used to get the date and time. Due to the battery in this module, we can get the date and time continuously without changing. Also, this Arduino LCD clock is designed to display the date and time on an LCD. For this, we first need to enter the exact date and time. Then it is stored in the RTC module. So that date and time remain the same even when this Arduino clock is not powered on.
Next, we set up the top of the Arduino LCD clock. For this, connect (solder) the I2c module to the LCD display. Then take a 2.75 x 4.5-inch piece and attach the LCD display to it. Afterward, connect it to the Arduino board.
Let us now enter the date and time for the Arduino LCD clock. You can use the following program for that. If you have not already included the RTC Library and I2C Library in the Arduino IDE, download and install them from the links below.
The first, includes the I2C library and the RTC library. Next, create an object called “lcd” for the I2C library and add the I2C address and the length and width of the LCD we are using. Then create an object called “rtc” for the RTC library and insert the I2C communication pin into it.
When all this is done, connect the power source to the Arduino LCD clock. You can use any power source you like for this. Remember to give a potential of 7 – 12 v. The full video guide is given below.
OK, let’s make this Arduino LCD clock using an Arduino Nano board. Also, this project used an LCD holder. Then we can do this very easily. So, let’s do this project step by step. The required components are given below.
The shield seen below is the LCD Keypad Shield for Arduino. Offering six buttons and an adjustable contrast back-lit LCD screen, the shield is a great extension of the Arduino’s stock hardware. A Modified Ardunio LCD4Bit library & example code can be found on the vendor’s site while the hardware itself can be found on ebay for a greatly reduced price.
The clock sketch (download link below) is a simple bit of c-code (erroneous pun not intended) that offsets a timer by an initial 12 hours 59 minutes. In the code “hbump” and “mbump” are implemented to set the time. These values are incremented and decremented using the directional buttons on the shield. The initial time that was previously mentioned has a value of milliseconds so dividing it by 1000 yields seconds. Dividing again by 60 yields minutes. The break down for hours is just 60*minutes. Finally days is 24*hours or for a 12 hour clock 12*hours. To get the values for the high and low columns in base 10, the quantities are modded by 10 and placed in the lower column. The quantity minus the remainder is placed in the upper column.
Finally some eye candy is added. Colons between the hours and minutes as well as the minutes and seconds displays alternate on off for an even and odd number of seconds respectively. Meanwhile Unicode 01C2: ? (A Latin Letter For the Alveolar Click (IPA)) scrolls across the top of the display for odd minute values.
This character is clearly unsupported by the LCD library but does produce a pretty cool symbol so I kept it. Apparently the mySQL field that holds this post dosen"t support it either (thus the ?).
Ms.Josey 
Ms.Josey