Deliverables

#include <Servo.h>

#define leftArm 3

#define rightArm 5

#define leftBack 6

#define rightBack 9

#define motorA 2

#define motorB 4

#define backRecline 7

#define frontRecline 8

#define longSitting 10

#define backSensor 11

#define seatSensor 12

#define reclineSensor 13

#define reclineBackTimeout 10000

#define reclineFrontTimeout 10000

#define sittingTimeout 30000

#define windTime 1600

#define unwindTime 1400

#define slideTime 2800

#define armTime 10000

#define relaxTime 10000

Servo left;

Servo right;

Servo rBack;

Servo lBack;

long reclineBackTime = millis();

long sittingTime = millis();

long reclineFrontTime = millis();

void setup()

{

Serial.begin(9600);

left.attach(leftArm);

right.attach(rightArm);

rBack.attach(leftBack);

lBack.attach(rightBack);

digitalWrite(motorA, OUTPUT);

digitalWrite(motorB, OUTPUT);

digitalWrite(backRecline, OUTPUT);

digitalWrite(frontRecline, OUTPUT);

digitalWrite(longSitting, OUTPUT);

digitalWrite(backSensor, INPUT);

digitalWrite(reclineSensor, INPUT);

digitalWrite(seatSensor, INPUT);

//Default states

lBack.write(180);

rBack.write(0);

left.write(180);

right.write(0);

}

void loop()

{

delay(10);

Serial.print(millis());

Serial.print(" ");

Serial.print(digitalRead(backSensor));

Serial.print(":");

Serial.print(reclineFrontTime);

Serial.print(" ");

Serial.print(digitalRead(reclineSensor));

Serial.print(":");

Serial.print(reclineBackTime);

Serial.print(" ");

Serial.print(digitalRead(seatSensor));

Serial.print(":");

Serial.println(sittingTime);

//Apply NOT-----------------------------------

//Front recline

if(!digitalRead(backSensor)) //Update if in correct posture //front recline -> 1

reclineFrontTime = millis();

//---------------------------------------------

//Back recline

if(digitalRead(reclineSensor)) //Update if not reclining //recline -> 0

reclineBackTime = millis();

//Sitting

if(digitalRead(seatSensor)) //Update if not sitting //Sitting -> 0

sittingTime = millis();

//Front recline

if((millis() - reclineFrontTime) >= reclineFrontTimeout)

{

//ON

Serial.print(millis());

Serial.print(" ");

Serial.print(reclineFrontTime);

Serial.print(" ");

Serial.println("front TO");

digitalWrite(frontRecline, HIGH);

left.write(90);

right.write(90);

delay(armTime);

left.write(180);

right.write(0);

Serial.print("Relaxing...");

delay(relaxTime);

Serial.println("Done!");

reclineBackTime = millis();

reclineFrontTime = millis();

sittingTime = millis();

}

else

{

digitalWrite(frontRecline, LOW);

left.write(180);

right.write(0);

}

//Back recline

if((millis() - reclineBackTime) >= reclineBackTimeout)

{

//

Serial.print(millis());

Serial.print(" ");

Serial.print(reclineBackTime);

Serial.print(" ");

Serial.println("back TO");

digitalWrite(backRecline, HIGH);

lBack.write(90);

rBack.write(70);

Serial.print("Relaxing...");

delay(relaxTime);

Serial.println("Done!");

reclineBackTime = millis();

reclineFrontTime = millis();

sittingTime = millis();

}

else

{

digitalWrite(backRecline, LOW);

lBack.write(180);

rBack.write(0);

}

//Long sitting

if((millis() - sittingTime) >= sittingTimeout)

{

//ON

Serial.print(millis());

Serial.print(" ");

Serial.print(sittingTime);

Serial.print(" ");

Serial.println("sit TO");

digitalWrite(longSitting, HIGH);

digitalWrite(motorA, HIGH);

digitalWrite(motorB, LOW);

delay(windTime);

digitalWrite(motorA, LOW);

digitalWrite(motorB, LOW);

delay(slideTime);

digitalWrite(motorA, LOW);

digitalWrite(motorB, HIGH);

delay(unwindTime);

digitalWrite(motorA, LOW);

digitalWrite(motorB, LOW);

Serial.print("Relaxing...");

delay(relaxTime);

Serial.println("Done!");

reclineBackTime = millis();

reclineFrontTime = millis();

sittingTime = millis();

}

else

{

digitalWrite(longSitting, LOW);

digitalWrite(motorA, LOW);

digitalWrite(motorB, LOW);

}

}