Electronics/Code

• Uses 11 motors and lights​

• >1200 Watts DC Power Max

• Practical Max: 326 W​

List of electrical parts:

• Fuse box​

• Vehicle LED Headlights

• Power Supply​ (12V and 36V)

• Relays (Controlled by Teensy)​

• Waterproof NEMA 17 Stepper Motors

• Motor Drivers

• Capacitors, Thermistors, buck converter, bus bar

// Define motor directions

#define CW HIGH

#define CCW LOW

const int dotLength = 250;

const int dashLength = dotLength * 3;

const int intraCharGap = dotLength;

const int interCharGap = dotLength * 3;

const int interWordGap = dotLength * 7;

String morse(char c) {

  switch (toupper(c)) {

    case 'A': return ".-";

    case 'B': return "-...";

    case 'C': return "-.-.";

    case 'D': return "-..";

    case 'E': return ".";

    case 'F': return "..-.";

    case 'G': return "--.";

    case 'H': return "....";

    case 'I': return "..";

    case 'J': return ".---";

    case 'K': return "-.-";

    case 'L': return ".-..";

    case 'M': return "--";

    case 'N': return "-.";

    case 'O': return "---";

    case 'P': return ".--.";

    case 'Q': return "--.-";

    case 'R': return ".-.";

    case 'S': return "...";

    case 'T': return "-";

    case 'U': return "..-";

    case 'V': return "...-";

    case 'W': return ".--";

    case 'X': return "-..-";

    case 'Y': return "-.--";

    case 'Z': return "--..";

    default: return "";  // ignore numbers, punctuation, etc.

  }

}

// Pin definitions for motors (PUL, DIR)

const int motorPins[12][2] = {

  { 0, 0 },    // Index 0 unused

  { 9, 4 },    // Motor 1: C

  { 1, 0 },    // Motor 2: Rv

  { 6, 5 },    // Motor 3: Rc

  { 3, 2 },    // Motor 4: Ra

  { 13, 41 },  // Motor 5: A1

  { 16, 14 },  // Motor 6: A2

  { 18, 17 },  // Motor 7: Ft

  { 20, 19 },  // Motor 8: Fv

  { 22, 21 },  // Motor 9: Fm

  { 23, 12 },  // Motor 10: Tv

  { 10, 11 }   // Motor 11: Tt

};

// Initial directions

const bool initialDirection[12] = {

  false,  // Index 0 unused

  CCW,    // Motor 1: CCW

  CCW,    // Motor 2: CCW

  CW,     // Motor 3: CW

  CCW,    // Motor 4: CCW

  CW,     // Motor 5: CW

  CCW,    // Motor 6: CCW

  CCW,    // Motor 7: CCW

  CCW,    // Motor 8: CCW

  CCW,    // Motor 9: CCW

  CCW,    // Motor 10: CCW

  CCW     // Motor 11: CCW

};

// Step counts for each motor

const int motorSteps[12] = {

  0,

  3500,

  2163,

  4150,

  2525,

  4800,

  4840,

  3545,

  4200,

  1952,

  4200,

  2451

};

const int lightPins[12] = { 0, 26, 30, 33, 29, 34, 35, 40, 32, 40, 38, 36 };

const int lightPins2[11] = { 0, 26, 30, 33, 29, 34, 35, 32, 40, 38, 36 };

const int lightShowTime[5] = { 0, 100, 1, 1000, 200 };  //[1] = on time [2] = off time [3] = hold after sequence [4] = hold between full light shows

void stepMotor(int motor, bool dir, int steps) {

  int pulPin = motorPins[motor][0];

  int dirPin = motorPins[motor][1];

  digitalWrite(dirPin, dir);

  for (int i = 0; i < steps; i++) {

    digitalWrite(pulPin, HIGH);

    delay(1);

    digitalWrite(pulPin, LOW);

    delay(1);

  }

}

void blinkSymbol(char symbol) {

  for (int i = 0; i < 11; i++) {

    digitalWrite(lightPins[i], HIGH);

  }

  delay(symbol == '.' ? dotLength : dashLength);

  for (int i = 0; i < 11; i++) {

    digitalWrite(lightPins[i], LOW);

  }

  delay(intraCharGap);  // Space between parts of a letter

}

void sendMorse(String message) {

  for (int i = 0; i < message.length(); i++) {

    char c = message[i];

    if (c == ' ') {

      delay(interWordGap);

    } else {

      String code = morse(c);

      for (int j = 0; j < code.length(); j++) {

        blinkSymbol(code[j]);

      }

      delay(interCharGap - intraCharGap);  // Adjust for extra intraChar delay

    }

  }

}

void dualMotorDoubleSpeed(int motor1, bool dir1, int steps1, int motor2, bool dir2) {

  int pulPin1 = motorPins[motor1][0];

  int dirPin1 = motorPins[motor1][1];

  int pulPin2 = motorPins[motor2][0];

  int dirPin2 = motorPins[motor2][1];

  digitalWrite(dirPin1, dir1);

  digitalWrite(dirPin2, dir2);

  for (int i = 0; i < steps1; i++) {

    digitalWrite(pulPin1, HIGH);

    digitalWrite(pulPin2, HIGH);

    delay(1);

    digitalWrite(pulPin1, LOW);

    digitalWrite(pulPin2, LOW);

    delay(1);

    digitalWrite(pulPin1, HIGH);

    delay(1);

    digitalWrite(pulPin1, LOW);

    delay(1);

  }

}

void dualMotor(int motor1, bool dir1, int steps1, int motor2, bool dir2) {

  int pulPin1 = motorPins[motor1][0];

  int dirPin1 = motorPins[motor1][1];

  int pulPin2 = motorPins[motor2][0];

  int dirPin2 = motorPins[motor2][1];

  digitalWrite(dirPin1, dir1);

  digitalWrite(dirPin2, dir2);

  for (int i = 0; i < steps1; i++) {

    digitalWrite(pulPin1, HIGH);

    digitalWrite(pulPin2, HIGH);

    delay(1);

    digitalWrite(pulPin1, LOW);

    digitalWrite(pulPin2, LOW);

    delay(1);

  }

}

void tripMotor(int motor1, bool dir1, int steps1, int motor2, bool dir2, int motor3, bool dir3) {

  int pulPin1 = motorPins[motor1][0];

  int dirPin1 = motorPins[motor1][1];

  int pulPin2 = motorPins[motor2][0];

  int dirPin2 = motorPins[motor2][1];

  int pulPin3 = motorPins[motor3][0];

  int dirPin3 = motorPins[motor3][1];

  digitalWrite(dirPin1, dir1);

  digitalWrite(dirPin2, dir2);

  digitalWrite(dirPin3, dir3);

  for (int i = 0; i < steps1; i++) {

    digitalWrite(pulPin1, HIGH);

    digitalWrite(pulPin2, HIGH);

    digitalWrite(pulPin3, HIGH);

    delay(1);

    digitalWrite(pulPin1, LOW);

    digitalWrite(pulPin2, LOW);

    digitalWrite(pulPin3, LOW);

    delay(1);

  }

}

void runLightSequence() {

  for (int i = 1; i < 7; i++) {

    digitalWrite(lightPins[i], HIGH);

    delay(lightShowTime[1]);

    digitalWrite(lightPins[i], LOW);

    delay(lightShowTime[2]);

  }

  digitalWrite(lightPins[8], HIGH);

  delay(lightShowTime[1]);

  digitalWrite(lightPins[8], LOW);

  delay(lightShowTime[2]);

  digitalWrite(lightPins[7], HIGH);

  delay(lightShowTime[1]);

  digitalWrite(lightPins[7], LOW);

  delay(lightShowTime[2]);

  for (int i = 10; i < 12; i++) {

    digitalWrite(lightPins[i], HIGH);

    delay(lightShowTime[1]);

    digitalWrite(lightPins[i], LOW);

    delay(lightShowTime[2]);

  }

}

void fullLightSequence() {

  runLightSequence();

  delay(lightShowTime[3]);

  for (int i = 1; i < 12; i++) digitalWrite(lightPins[i], HIGH);

  delay(lightShowTime[1]);

  for (int i = 1; i < 12; i++) digitalWrite(lightPins[i], LOW);

  delay(lightShowTime[4]);

  for (int i = 1; i < 12; i++) digitalWrite(lightPins[i], HIGH);

  delay(lightShowTime[1]);

  for (int i = 1; i < 12; i++) digitalWrite(lightPins[i], LOW);

  runLightSequence();

}

void buildingLights() {

  for (int j = 1; j <= 11; j++) {

    for (int i = 1; i <= 11; i++) {

      digitalWrite(lightPins2[i], HIGH);

      delay(100);

      if (i > j) {

        digitalWrite(lightPins2[i], LOW);

      }

    }

    digitalWrite(lightPins2[j], HIGH);

  }

}

void setup() {

  for (int i = 1; i <= 11; i++) {

    pinMode(motorPins[i][0], OUTPUT);

    pinMode(motorPins[i][1], OUTPUT);

    pinMode(lightPins[i], OUTPUT);

  }

  // Open with light show

  fullLightSequence();

  // Prep C, Rv, A1, Ft, Fm, Tt, Fc

  tripMotor(1, CW, motorSteps[2], 2, CCW, 5, CW);         // Finish Rv

  tripMotor(1, CW, 3000 - motorSteps[2], 8, CCW, 5, CW);  //Finish C

  dualMotor(8, CCW, motorSteps[5] - 3000, 5, CW);         //Finish A1

  //tripMotor(9, CCW, motorSteps[9] - motorSteps[5] + 3000, 7, CCW, 11, CCW);                    //Finish Fm

  //tripMotor(7, CCW, motorSteps[7] - motorSteps[9] - 3000 + motorSteps[2], 11, CCW, 8, CCW);    //Finish Ft

  //dualMotor(11, CCW, motorSteps[11] + motorSteps[5] - motorSteps[2] - motorSteps[7], 8, CCW);  //Finish Tt

  stepMotor(8, CCW, motorSteps[8] + motorSteps[2] - motorSteps[5]);  //Finish Fv

  stepMotor(11, CCW, 20);

  stepMotor(11, CW, 400);

  runLightSequence();  // Acknowledge prep

}

void loop() {

  for (int k = 0; k < 25; k++) {

    // Start of full show

    // Move C

    digitalWrite(lightPins[1], HIGH);

    stepMotor(1, CCW, motorSteps[1] + motorSteps[2] - motorSteps[3] - 30);

    // Finish C and preload RC

    dualMotor(1, CCW, motorSteps[3] - motorSteps[2] - motorSteps[2] + 30, 3, CCW);

    // Finish C, prep Rv, preload RC

    tripMotor(1, CCW, motorSteps[2], 2, CW, 3, CCW);

    digitalWrite(lightPins[1], LOW);

    // Move Rv and complete prep of Rc

    digitalWrite(lightPins[2], HIGH);

    dualMotor(2, CCW, motorSteps[2] - 30, 3, CCW);

    stepMotor(2, CCW, 30);

    digitalWrite(lightPins[2], LOW);

    // Move RC

    digitalWrite(lightPins[3], HIGH);

    stepMotor(3, CW, motorSteps[3] - motorSteps[4]);

    // Move RC and start Ra prep

    dualMotor(3, CW, motorSteps[4] - motorSteps[5] + motorSteps[4], 4, CCW);

    // Move RC, finish Ra prep, preprep A1

    tripMotor(3, CW, motorSteps[5] - motorSteps[4], 4, CCW, 5, CCW);

    digitalWrite(lightPins[3], LOW);

    // Move Ra and finish A1 prep

    digitalWrite(lightPins[4], HIGH);

    dualMotor(4, CW, motorSteps[4], 5, CCW);

    digitalWrite(lightPins[4], LOW);

    // Move A1 and prep A2

    digitalWrite(lightPins[5], HIGH);

    dualMotor(5, CW, motorSteps[6], 6, CCW);

    stepMotor(5, CW, motorSteps[5] - motorSteps[6]);  // Finish moving A1

    digitalWrite(lightPins[5], LOW);

    // Move A2 and prep Fv and start prepping Tt

    digitalWrite(lightPins[6], HIGH);

    tripMotor(6, CW, motorSteps[11], 8, CW, 11, CW);

    // Move A2 and prep Fv and start prepping Tv

    tripMotor(6, CW, motorSteps[8] - motorSteps[11], 8, CW, 10, CCW);

    // Finish moving A2 and prep Tv

    stepMotor(6, CW, motorSteps[6] - motorSteps[8]);

    digitalWrite(lightPins[6], LOW);

    // Move Fv and prep FM and Ft

    digitalWrite(lightPins[8], HIGH);

    tripMotor(8, CCW, motorSteps[9], 7, CW, 9, CW);

    // Move Fv and finish Ft

    dualMotor(8, CCW, motorSteps[7] - motorSteps[9], 7, CW);

    // Finish moving Fv

    stepMotor(8, CCW, motorSteps[8] - motorSteps[7]);

    digitalWrite(lightPins[8], LOW);

    // Move 7 and 9

    digitalWrite(lightPins[7], HIGH);

    const int trickySplitter[8] = { 0, 350, 110, 400, 110, 450, 139, 393 };

    for (int i = 0; i < 8; i += 2) {

      dualMotor(7, CCW, trickySplitter[i], 9, CCW);

      dualMotorDoubleSpeed(7, CCW, trickySplitter[i + 1], 9, CCW);

    }

    digitalWrite(lightPins[7], LOW);

    // Move Tt and finish Tv prep

    digitalWrite(lightPins[11], HIGH);

    dualMotor(11, CCW, motorSteps[10] - motorSteps[8] + motorSteps[11], 10, CCW);

    // Finish moving Tt

    stepMotor(11, CCW, motorSteps[8] - motorSteps[10]);

    digitalWrite(lightPins[11], LOW);

    // Move Tv and prep C

    digitalWrite(lightPins[10], HIGH);

    dualMotor(10, CW, motorSteps[1], 1, CW);

    // Move Tv

    stepMotor(10, CW, motorSteps[10] - motorSteps[1]);

    digitalWrite(lightPins[10], LOW);

    // End of full show

    //back to a lightshow

    fullLightSequence();

    //Meld of lightshow and letter movement

    // Move C

    digitalWrite(lightPins[1], HIGH);

    stepMotor(1, CCW, motorSteps[1] + motorSteps[2] - motorSteps[3] - 30);

    // Finish C and preload RC

    dualMotor(1, CCW, motorSteps[3] - motorSteps[2] - motorSteps[2] + 30, 3, CCW);

    // Finish C, prep Rv, preload RC

    tripMotor(1, CCW, motorSteps[2], 2, CW, 3, CCW);

    // Move Rv and complete prep of Rc

    digitalWrite(lightPins[2], HIGH);

    dualMotor(2, CCW, motorSteps[2] - 30, 3, CCW);

    stepMotor(2, CCW, 30);

    // Move RC

    digitalWrite(lightPins[3], HIGH);

    stepMotor(3, CW, motorSteps[3] - motorSteps[4]);

    // Move RC and start Ra prep

    dualMotor(3, CW, motorSteps[4] - motorSteps[5] + motorSteps[4], 4, CCW);

    // Move RC, finish Ra prep, preprep A1

    tripMotor(3, CW, motorSteps[5] - motorSteps[4], 4, CCW, 5, CCW);

    // Move Ra and finish A1 prep

    digitalWrite(lightPins[4], HIGH);

    dualMotor(4, CW, motorSteps[4], 5, CCW);

    // Move A1 and prep A2

    digitalWrite(lightPins[5], HIGH);

    dualMotor(5, CW, motorSteps[6], 6, CCW);

    stepMotor(5, CW, motorSteps[5] - motorSteps[6]);  // Finish moving A1

    // Move A2 and prep Fv and start prepping Tt

    digitalWrite(lightPins[6], HIGH);

    tripMotor(6, CW, motorSteps[11], 8, CW, 11, CW);

    // Move A2 and prep Fv and start prepping Tv

    tripMotor(6, CW, motorSteps[8] - motorSteps[11], 8, CW, 10, CCW);

    // Finish moving A2 and prep Tv and Tt

    stepMotor(6, CW, motorSteps[6] - motorSteps[8]);

    // Move Fv and prep FM and Ft

    digitalWrite(lightPins[8], HIGH);

    tripMotor(8, CCW, motorSteps[9], 7, CW, 9, CW);

    // Move Fv and finish Ft

    dualMotor(8, CCW, motorSteps[7] - motorSteps[9], 7, CW);

    // Finish moving Fv

    stepMotor(8, CCW, motorSteps[8] - motorSteps[7]);

    // Move 7 and 9

    digitalWrite(lightPins[7], HIGH);

    for (int i = 0; i < 8; i += 2) {

      dualMotor(7, CCW, trickySplitter[i], 9, CCW);

      dualMotorDoubleSpeed(7, CCW, trickySplitter[i + 1], 9, CCW);

    }

    // Move Tt and finish Tv prep

    digitalWrite(lightPins[11], HIGH);

    dualMotor(11, CCW, motorSteps[10] - motorSteps[8] + motorSteps[11], 10, CCW);

    // Finish moving Tt

    stepMotor(11, CCW, motorSteps[8] - motorSteps[10]);

    // Move Tv and prep C

    digitalWrite(lightPins[10], HIGH);

    dualMotor(10, CW, motorSteps[1], 1, CW);

    // Move Tv

    stepMotor(10, CW, motorSteps[10] - motorSteps[1]);

    delay(500);

    for (int i = 0; i < 11; i++) {

      digitalWrite(lightPins2[i], LOW);

      delay(200);

    }

    buildingLights();

    for (int i = 11; i > 0; i--) {

      digitalWrite(lightPins2[i], LOW);

      delay(100);

    }

    delay(5000);

    fullLightSequence();

    //turn on all the lights slowly

    for (int i = 0; i < 11; i++) {

      digitalWrite(lightPins2[i], HIGH);

      delay(100);

      digitalWrite(lightPins2[i], LOW);

      delay(200);

      digitalWrite(lightPins2[i], HIGH);

      delay(200);

      digitalWrite(lightPins2[i], LOW);

      delay(150);

      digitalWrite(lightPins2[i], HIGH);

      delay(300);

    }

    //All lights on section

    tripMotor(1, CCW, motorSteps[9], 9, CW, 4, CCW);   // C, Ra, Fm

    tripMotor(3, CCW, motorSteps[9], 5, CCW, 11, CW);  //Rc, A1, Tt

    tripMotor(1, CW, motorSteps[9], 6, CCW, 8, CW);    //C, A2, Fv

    tripMotor(2, CW, motorSteps[9], 7, CW, 10, CCW);   //Rv, Ft, Tv

    dualMotor(9, CCW, motorSteps[9], 4, CW);

    dualMotor(3, CW, motorSteps[9], 5, CW);

    tripMotor(11, CCW, motorSteps[9], 6, CW, 8, CCW);

    tripMotor(2, CCW, motorSteps[9], 7, CCW, 10, CW);

    digitalWrite(lightPins[11], LOW);

    delay(150);

    digitalWrite(lightPins[11], HIGH);

    delay(200);

    digitalWrite(lightPins[11], LOW);

    delay(150);

    digitalWrite(lightPins[11], HIGH);

    delay(200);

    digitalWrite(lightPins[11], LOW);

    delay(150);

    digitalWrite(lightPins[11], HIGH);

    delay(700);

    for (int i = 11; i > 0; i--) {

      digitalWrite(lightPins2[i], LOW);

      delay(100);

    }

    delay(180000);

  }

  sendMorse("LONG LIVE ATLANTIS");

}  //void loop end