[图册]第九届全国大学生节能减排竞赛图册@2016.8.9~8.12,镇江·江苏大学

先更新展示系统 的代码，随后更新图图

第一次使用Arduino，纯是按照新手的51思路写的，异常冗杂，但是蛮好用= =

没有使用中断服务，纯键盘扫描

#if ARDUINO >= 100
#include "Arduino.h"
#else
#include "WProgram.h"
#endif 
//官方的库
#include "LedControl.h"

#include <Wire.h>
#include <Adafruit_PWMServoDriver.h>


const int button1=13;
const int button2=12;
int button3=11;
int step_next=3;
int step_before=2;
int switch1=0;
int switch2=1;
int step_stop=10;
int mode_flag=0;
int step_flag=0;

int light=3;
int mode_temp=0;
int step_temp=0;

/*led部分相关定义*/
/*
Now we need a LedControl to work with.
***** These pin numbers will probably not work with your hardware *****
第一个参数：pin 4 is connected to the DataIn 
第二个参数：pin 6 is connected to the CLK 
第三个参数：pin 5 is connected to LOAD 
第四个参数：We have only a single MAX72XX.
*/
LedControl lc=LedControl(4,6,5,2);
LedControl dig=LedControl(7,8,9,1);
/* we always wait a bit between updates of the display */
unsigned long delaytime=100;
unsigned long delaytime1=2000;

//舵机部分定义

// called this way, it uses the default address 0x40
//Adafruit_PWMServoDriver pwm = Adafruit_PWMServoDriver();
// you can also call it with a different address you want
Adafruit_PWMServoDriver servo_pwm1 = Adafruit_PWMServoDriver(0x40);
//Dervo x16 #1
Adafruit_PWMServoDriver servo_pwm2 = Adafruit_PWMServoDriver(0x41);
//Dervo X16 #2
// Depending on your servo make, the pulse width min and max may vary, you 
// want these to be as small/large as possible without hitting the hard stop
// for max range. You'll have to tweak them as necessary to match the servos you
// have!
#define SERVOMIN  150 // this is the 'minimum' pulse length count (out of 4096)
#define SERVOMAX  600 // this is the 'maximum' pulse length count (out of 4096)
void setServoPulse(uint8_t n, double pulse) {
  double pulselength;
  
  pulselength = 1000000;   // 1,000,000 us per second
  pulselength /= 60;   // 60 Hz
  Serial.print(pulselength); Serial.println(" us per period"); 
  pulselength /= 4096;  // 12 bits of resolution
  Serial.print(pulselength); Serial.println(" us per bit"); 
  pulse *= 1000;
  pulse /= pulselength;
  Serial.println(pulse);
  servo_pwm2.setPWM(n, 0, pulse);
}



void setup() {
  mode_flag=0;
  step_flag=0;
  Serial.begin(9600);
  Serial.println("16 channel Servo test!");

  pinMode(button1,INPUT);
  pinMode(button2,INPUT);
  pinMode(button3,INPUT);
  pinMode(step_next,INPUT);
  pinMode(step_before,INPUT);
  pinMode(switch1,OUTPUT);
  pinMode(switch2,OUTPUT);
  pinMode(light,OUTPUT);
  digitalWrite(light,1);
 /*初始化led部分*/
 /*
   The MAX72XX is in power-saving mode on startup,
   we have to do a wakeup call
   */
  lc.shutdown(0,false);
  /* Set the brightness to a medium values */
  lc.setIntensity(0,8);
  /* and clear the display */
  lc.clearDisplay(0);

  lc.shutdown(1,false);
  /* Set the brightness to a medium values */
  lc.setIntensity(1,8);
  /* and clear the display */
  lc.clearDisplay(1);

  //此块为数码管（温度）
    dig.shutdown(0,false);
  /* Set the brightness to a medium values */
  dig.setIntensity(0,8);
  /* and clear the display */
  dig.clearDisplay(0);

  //初始化舵机部分

  servo_pwm1.begin();
  
  servo_pwm1.setPWMFreq(50);
  
  servo_pwm2.begin();
  
  servo_pwm2.setPWMFreq(50);  // Analog servos run at ~60 Hz updates

  yield();

         unsigned int servo_position01[18]{ 475,475,475,475,475,475,475,475
         ,475,475,475,475,475,475,475,475,475,475};
          for (uint16_t counter1=0;counter1<16;counter1++)
          {
            servo_pwm1.setPWM(counter1, 0, servo_position01[counter1]);
            delay(50);
          }
           for (uint16_t counter1=0;counter1<16;counter1++)
          {
            servo_pwm2.setPWM(counter1, 0, servo_position01[counter1]);
            delay(50);

          

}
}

void key_scan()
{
  if(digitalRead(button1)==1)
  { 
      delay(8);
        if(digitalRead(button1)==1)
          {
            mode_flag=1;
            step_flag=0;         
          }
           while(digitalRead(button1)==1);
    }
    
     if(digitalRead(button2)==1)
  { 
      delay(8);
        if(digitalRead(button2)==1)
          {
            mode_flag=2;
            step_flag=0;

          }
        while(digitalRead(button2));
    }  
    
    if(digitalRead(button3)==1)
  { 
      delay(100);
        if(digitalRead(button3)==1)
          {
            mode_flag=3;
            step_flag=0;
          }
       while(digitalRead(button3));
    }

      if(digitalRead(step_next)==1)
  { 
      delay(8);
        if(digitalRead(step_next)==1)
          {
            step_flag=step_flag+1;
   
          }
      while(digitalRead(step_next));
    }


      if(digitalRead(step_before)==1)
  { 
      delay(100);
        if(digitalRead(step_before)==1)
          {
            if(step_flag!=0)
            step_flag=step_flag-1;
            while(digitalRead(step_before));
          }
    }

  
      if(digitalRead(step_stop)==1)
  { 
      delay(100);
        if(digitalRead(step_stop)==1)
          {
            step_flag=0;
            mode_flag=0;
            while(digitalRead(step_stop));
          }
    }

  
}

int wait()
{
    while(digitalRead(button1)==0);
    while(digitalRead(button1)==1);
    return 1;
  }

int select()
{
    int temp=0;
    dig.clearDisplay(0);
    dig.setDigit(0,0,0x0,false);
    do{
        if(digitalRead(button2)==0)
        {
          delay(50);
          if(digitalRead(button2)==0)
          {
              if(temp<4)
              temp++;
              else temp=0;
              dig.setDigit(0,0,temp,false);
            }
            while(digitalRead(button2)==0);
        }

        if(digitalRead(button1)==0)
        {
            delay(50);
             if(digitalRead(button1)==0)   return temp;
          }

      }while(1);
  
  
  }
void mode1()
{
          dig.clearDisplay(0);
                unsigned int servo_position01[18]{ 280,250,250,
                                    280,280,280,270,
                                    270,270,250,250,
                                   260,260,255,250,
                                     270,270,270};
          for (uint16_t counter1=0;counter1<16;counter1++)
          {
            servo_pwm1.setPWM(counter1, 0, servo_position01[counter1]);
            delay(50);
          }
           for (uint16_t counter1=0;counter1<16;counter1++)
          {
            servo_pwm2.setPWM(counter1, 0, 270);
            delay(50);
          }
          dig.setDigit(0,0,0x5,false);
          dig.setDigit(0,1,0x5,false);
          dig.setDigit(0,4,0x0,false);
          dig.setDigit(0,5,0x3,false);
          delay(300);
          lc.setRow(1,2,B00000010);
          delay(300);
          lc.setRow(1,2,B00000001);
          delay(300);
          lc.setRow(1,2,B00001000);
          delay(300);
          lc.setRow(1,2,B00000100);
            delay(300);
          lc.setRow(1,2,B00010000);
            delay(300);
            delay(700);
          lc.setRow(1,2,B00010010);
          delay(300);
          lc.setRow(1,2,B00010001);
          delay(300);
          lc.setRow(1,2,B00011000);
          delay(300);
          lc.setRow(1,2,B00010100);
          delay(300);
          delay(700);
          lc.setRow(1,2,B00010110);
          delay(300);
          lc.setRow(1,2,B00010101);
          delay(300);
          lc.setRow(1,2,B00011100);
          delay(300);
                   
       

wait();

 
          
          //！继电器2开启
digitalWrite(light,0);
        
      
      
      
      


                 byte led1[8]={
                         B11111111,
                         B00000000,
                         B00000000,
                         B00000000,
                         B00000000,
                         B00000000,
                         B00000000,
                         B00000000
                                      } ;

                 byte led2[8]={
                         B00000000,
                         B00000000,
                         B00000000,
                         B00000000,
                         B00000000,
                         B00000000,
                         B10111111,
                         B10000000
                                      } ;
          byte led3[8]={
                         B00000000,
                         B00000000,
                         B00000000,
                         B00000000,
                         B11111111,
                         B00000000,
                         B00000000,
                         B00000000
                                      } ;
          byte led4[8]={
                         B00000000,
                         B00000000,
                         B11111111,
                         B00000000,
                         B00000000,
                         B00000000,
                         B00000000,
                         B00000000
                                      } ;
for(int i=0;i<8;i++)
{
          lc.setRow(0,0,led1[0]);
          lc.setRow(0,1,led1[1]);
          lc.setRow(0,2,led1[2]);
           lc.setRow(0,3,led1[3]);
           lc.setRow(0,4,led1[4]);
           lc.setRow(0,5,led1[5]);
           lc.setRow(0,6,led1[6]);
           lc.setRow(0,7,led1[7]);
           delay(300);

          lc.setRow(0,0,led2[0]);
          lc.setRow(0,1,led2[1]);
          lc.setRow(0,2,led2[2]);
           lc.setRow(0,3,led2[3]);
           lc.setRow(0,4,led2[4]);
           lc.setRow(0,5,led2[5]);
           lc.setRow(0,6,led2[6]);
           lc.setRow(0,7,led2[7]);
           delay(300);
          lc.setRow(0,0,led3[0]);
          lc.setRow(0,1,led3[1]);
          lc.setRow(0,2,led3[2]);
           lc.setRow(0,3,led3[3]);
           lc.setRow(0,4,led3[4]);
           lc.setRow(0,5,led3[5]);
           lc.setRow(0,6,led3[6]);
           lc.setRow(0,7,led3[7]);
           delay(300);
          lc.setRow(0,0,led4[0]);
          lc.setRow(0,1,led4[1]);
          lc.setRow(0,2,led4[2]);
           lc.setRow(0,3,led4[3]);
           lc.setRow(0,4,led4[4]);
           lc.setRow(0,5,led4[5]);
           lc.setRow(0,6,led4[6]);
           lc.setRow(0,7,led4[7]);
           delay(300);
}

wait();

        lc.clearDisplay(1);
        dig.clearDisplay(0);
          dig.setDigit(0,0,0x0,false);
          delay(5);
          dig.setDigit(0,1,0x4,false);
          delay(5);
          dig.setDigit(0,4,0x0,false);
          delay(5);
          dig.setDigit(0,5,0x3,false);
        delay(500);
        for(int i=0;i<8;i++)
{
          lc.setRow(0,0,led1[0]);
          lc.setRow(0,1,led1[1]);
          lc.setRow(0,2,led1[2]);
           lc.setRow(0,3,led1[3]);
           lc.setRow(0,4,led1[4]);
           lc.setRow(0,5,led1[5]);
           lc.setRow(0,6,led1[6]);
           lc.setRow(0,7,led1[7]);
           delay(300);

          lc.setRow(0,0,led2[0]);
          lc.setRow(0,1,led2[1]);
          lc.setRow(0,2,led2[2]);
           lc.setRow(0,3,led2[3]);
           lc.setRow(0,4,led2[4]);
           lc.setRow(0,5,led2[5]);
           lc.setRow(0,6,led2[6]);
           lc.setRow(0,7,led2[7]);
           delay(300);
          lc.setRow(0,0,led3[0]);
          lc.setRow(0,1,led3[1]);
          lc.setRow(0,2,led3[2]);
           lc.setRow(0,3,led3[3]);
           lc.setRow(0,4,led3[4]);
           lc.setRow(0,5,led3[5]);
           lc.setRow(0,6,led3[6]);
           lc.setRow(0,7,led3[7]);
           delay(300);
          lc.setRow(0,0,led4[0]);
          lc.setRow(0,1,led4[1]);
          lc.setRow(0,2,led4[2]);
           lc.setRow(0,3,led4[3]);
           lc.setRow(0,4,led4[4]);
           lc.setRow(0,5,led4[5]);
           lc.setRow(0,6,led4[6]);
           lc.setRow(0,7,led4[7]);
           delay(300);
          }
        wait();



      }
 

void mode2()
{
    dig.clearDisplay(0);
                unsigned int servo_position01[18]{475,475,475,
                                                    475,475,475,475,
                                                    475,475,475,475,
                                                    475,475,475
                                                    };
          for (uint16_t counter1=0;counter1<16;counter1++)
          {
            servo_pwm1.setPWM(counter1, 0, servo_position01[counter1]);
            delay(50);
          }
           for (uint16_t counter1=0;counter1<16;counter1++)
          {
            servo_pwm2.setPWM(counter1, 0, servo_position01[counter1]);
            delay(50);
          }
          dig.setDigit(0,0,0x5,false);
          delay(5);
          dig.setDigit(0,1,0x5,false);
          delay(5);
          dig.setDigit(0,4,0x0,false);
          delay(5);
          dig.setDigit(0,5,0x3,false);
          delay(5);
          wait();

          for(int i=0;i<8;i++)
           { lc.setRow(1,2,B11111111);
              delay(400);
            lc.setRow(1,2,B00000000);
              delay(400);
           }
           lc.setRow(1,2,B11111111);
           wait();

           digitalWrite(light,1);
        

                 byte led1[8]={
                         B10000000,
                         B10000000,
                         B10000000,
                         B10000000,
                         B10000000,
                         B10000000,
                         B11000000,
                         B00000000
                                      } ;

                 byte led2[8]={
                         B00000010,
                         B00000010,
                         B00000010,
                         B00000010,
                         B00000010,
                         B00000010,
                         B00000010,
                         B00000010
                                      } ;
          byte led3[8]={
                         B00001000,
                         B00001000,
                         B00001000,
                         B00001000,
                         B00001000,
                         B00001000,
                         B00000000,
                         B00000000
                                      } ;
          byte led4[8]={
                         B00100000,
                         B00100000,
                         B00100000,
                         B00100000,
                         B00100000,
                         B00100000,
                         B00100000,
                         B00100000
                                      } ;
for(int i=0;i<8;i++)
{
          lc.setRow(0,0,led1[0]);
          lc.setRow(0,1,led1[1]);
          lc.setRow(0,2,led1[2]);
           lc.setRow(0,3,led1[3]);
           lc.setRow(0,4,led1[4]);
           lc.setRow(0,5,led1[5]);
           lc.setRow(0,6,led1[6]);
           lc.setRow(0,7,led1[7]);
           delay(300);

          lc.setRow(0,0,led2[0]);
          lc.setRow(0,1,led2[1]);
          lc.setRow(0,2,led2[2]);
           lc.setRow(0,3,led2[3]);
           lc.setRow(0,4,led2[4]);
           lc.setRow(0,5,led2[5]);
           lc.setRow(0,6,led2[6]);
           lc.setRow(0,7,led2[7]);
           delay(300);
          lc.setRow(0,0,led3[0]);
          lc.setRow(0,1,led3[1]);
          lc.setRow(0,2,led3[2]);
           lc.setRow(0,3,led3[3]);
           lc.setRow(0,4,led3[4]);
           lc.setRow(0,5,led3[5]);
           lc.setRow(0,6,led3[6]);
           lc.setRow(0,7,led3[7]);
           delay(300);
          lc.setRow(0,0,led4[0]);
          lc.setRow(0,1,led4[1]);
          lc.setRow(0,2,led4[2]);
           lc.setRow(0,3,led4[3]);
           lc.setRow(0,4,led4[4]);
           lc.setRow(0,5,led4[5]);
           lc.setRow(0,6,led4[6]);
           lc.setRow(0,7,led4[7]);
           delay(300);
}
          dig.clearDisplay(0);
          dig.setDigit(0,0,0x0,false);
          delay(5);
          dig.setDigit(0,1,0x4,false);
          delay(5);
          dig.setDigit(0,4,0x0,false);
          delay(20);
          dig.setDigit(0,5,0x3,false);
          delay(5);
          lc.setRow(1,2,B00000000);
          wait();

           
  }

 
void mode3()
{
               dig.clearDisplay(0);
                unsigned int servo_position01[18]{ 475,475,475,
                                    270,475,475,270,
                                    270,270,250,250,
                                   270,475,475,260,
                                     475,475,475};
          for (uint16_t counter1=0;counter1<16;counter1++)
          {
            servo_pwm1.setPWM(counter1, 0, servo_position01[counter1]);
            delay(50);
          }
           for (uint16_t counter1=0;counter1<16;counter1++)
          {
            servo_pwm2.setPWM(counter1, 0, servo_position01[16]);
            delay(50);
          }
          wait();
          dig.setDigit(0,0,0x9,false);
          delay(5);
          dig.setDigit(0,1,0x0,false);
          delay(5);
          dig.setDigit(0,4,0x2,false);
          delay(5);
          dig.setDigit(0,5,0x0,false);
          delay(300);
          wait();
                    for(int i=0;i<8;i++)
           { lc.setRow(1,2,B11111111);
              delay(400);
            lc.setRow(1,2,B00000000);
              delay(400);
           }
           lc.setRow(1,2,B11111111);
           wait();
  }

void mode4()
{
                dig.clearDisplay(0);
               lc.clearDisplay(0);
                unsigned int servo_position01[18]{ 280,250,250,
                                    280,280,280,270,
                                    270,270,250,250,
                                   260,260,255,250,
                                     270,270,270};
          for (uint16_t counter1=0;counter1<16;counter1++)
          {
            servo_pwm1.setPWM(counter1, 0, servo_position01[counter1]);
            delay(50);
          }
           for (uint16_t counter1=0;counter1<16;counter1++)
          {
            servo_pwm2.setPWM(counter1, 0, 270);
            delay(50);
          }
          dig.setDigit(0,0,0x5,false);
          dig.setDigit(0,1,0x5,false);
          dig.setDigit(0,4,0x0,false);
          dig.setDigit(0,5,0x3,false);
          delay(300);
          lc.setRow(1,2,B00000010);
          delay(300);
          lc.setRow(1,2,B00000001);
          delay(300);
          lc.setRow(1,2,B00001000);
          delay(300);
          lc.setRow(1,2,B00000100);
            delay(300);
          lc.setRow(1,2,B00010000);
            delay(300);
            delay(700);
          lc.setRow(1,2,B00010010);
          delay(300);
          lc.setRow(1,2,B00010001);
          delay(300);
          lc.setRow(1,2,B00011000);
          delay(300);
          lc.setRow(1,2,B00010100);
          delay(300);
          delay(700);
          lc.setRow(1,2,B00010110);
          delay(300);
          lc.setRow(1,2,B00010101);
          delay(300);
          lc.setRow(1,2,B00011100);
          delay(300);
                   
       

          delay(3000);

 
          
          //！继电器2开启

        
      
      
      
      


                 byte led1[8]={
                         B11111111,
                         B00000000,
                         B00000000,
                         B00000000,
                         B00000000,
                         B00000000,
                         B00000000,
                         B00000000
                                      } ;

                 byte led2[8]={
                         B00000000,
                         B00000000,
                         B00000000,
                         B00000000,
                         B00000000,
                         B00000000,
                         B10111111,
                         B10000000
                                      } ;
          byte led3[8]={
                         B00000000,
                         B00000000,
                         B00000000,
                         B00000000,
                         B11111111,
                         B00000000,
                         B00000000,
                         B00000000
                                      } ;
          byte led4[8]={
                         B00000000,
                         B00000000,
                         B11111111,
                         B00000000,
                         B00000000,
                         B00000000,
                         B00000000,
                         B00000000
                                      } ;
for(int i=0;i<8;i++)
{
          lc.setRow(0,0,led1[0]);
          lc.setRow(0,1,led1[1]);
          lc.setRow(0,2,led1[2]);
           lc.setRow(0,3,led1[3]);
           lc.setRow(0,4,led1[4]);
           lc.setRow(0,5,led1[5]);
           lc.setRow(0,6,led1[6]);
           lc.setRow(0,7,led1[7]);
           delay(300);

          lc.setRow(0,0,led2[0]);
          lc.setRow(0,1,led2[1]);
          lc.setRow(0,2,led2[2]);
           lc.setRow(0,3,led2[3]);
           lc.setRow(0,4,led2[4]);
           lc.setRow(0,5,led2[5]);
           lc.setRow(0,6,led2[6]);
           lc.setRow(0,7,led2[7]);
           delay(300);
          lc.setRow(0,0,led3[0]);
          lc.setRow(0,1,led3[1]);
          lc.setRow(0,2,led3[2]);
           lc.setRow(0,3,led3[3]);
           lc.setRow(0,4,led3[4]);
           lc.setRow(0,5,led3[5]);
           lc.setRow(0,6,led3[6]);
           lc.setRow(0,7,led3[7]);
           delay(300);
          lc.setRow(0,0,led4[0]);
          lc.setRow(0,1,led4[1]);
          lc.setRow(0,2,led4[2]);
           lc.setRow(0,3,led4[3]);
           lc.setRow(0,4,led4[4]);
           lc.setRow(0,5,led4[5]);
           lc.setRow(0,6,led4[6]);
           lc.setRow(0,7,led4[7]);
           delay(300);
}

           delay(3000);

        lc.clearDisplay(1);
        dig.clearDisplay(0);
          dig.setDigit(0,0,0x0,false);
          delay(5);
          dig.setDigit(0,1,0x4,false);
          delay(5);
          dig.setDigit(0,4,0x0,false);
          delay(5);
          dig.setDigit(0,5,0x3,false);
        delay(500);
        for(int i=0;i<8;i++)
{
          lc.setRow(0,0,led1[0]);
          lc.setRow(0,1,led1[1]);
          lc.setRow(0,2,led1[2]);
           lc.setRow(0,3,led1[3]);
           lc.setRow(0,4,led1[4]);
           lc.setRow(0,5,led1[5]);
           lc.setRow(0,6,led1[6]);
           lc.setRow(0,7,led1[7]);
           delay(300);

          lc.setRow(0,0,led2[0]);
          lc.setRow(0,1,led2[1]);
          lc.setRow(0,2,led2[2]);
           lc.setRow(0,3,led2[3]);
           lc.setRow(0,4,led2[4]);
           lc.setRow(0,5,led2[5]);
           lc.setRow(0,6,led2[6]);
           lc.setRow(0,7,led2[7]);
           delay(300);
          lc.setRow(0,0,led3[0]);
          lc.setRow(0,1,led3[1]);
          lc.setRow(0,2,led3[2]);
           lc.setRow(0,3,led3[3]);
           lc.setRow(0,4,led3[4]);
           lc.setRow(0,5,led3[5]);
           lc.setRow(0,6,led3[6]);
           lc.setRow(0,7,led3[7]);
           delay(300);
          lc.setRow(0,0,led4[0]);
          lc.setRow(0,1,led4[1]);
          lc.setRow(0,2,led4[2]);
           lc.setRow(0,3,led4[3]);
           lc.setRow(0,4,led4[4]);
           lc.setRow(0,5,led4[5]);
           lc.setRow(0,6,led4[6]);
           lc.setRow(0,7,led4[7]);
           delay(300);
          }
           delay(3000);



     
 

        delay(3000);

               dig.clearDisplay(0);
               lc.clearDisplay(0);        
    dig.clearDisplay(0);
                unsigned int servo_position03[18]{475,475,475,
                                                    475,475,475,475,
                                                    475,475,475,475,
                                                    475,475,475
                                                    };
          for (uint16_t counter1=0;counter1<16;counter1++)
          {
            servo_pwm1.setPWM(counter1, 0, servo_position03[counter1]);
            delay(50);
          }
           for (uint16_t counter1=0;counter1<16;counter1++)
          {
            servo_pwm2.setPWM(counter1, 0, servo_position03[counter1]);
            delay(50);
          }
          dig.setDigit(0,0,0x5,false);
          delay(5);
          dig.setDigit(0,1,0x5,false);
          delay(5);
          dig.setDigit(0,4,0x0,false);
          delay(5);
          dig.setDigit(0,5,0x3,false);
          delay(5);
                  delay(3000);

          for(int i=0;i<8;i++)
           { lc.setRow(1,2,B11111111);
              delay(400);
            lc.setRow(1,2,B00000000);
              delay(400);
           }
           lc.setRow(1,2,B11111111);
               delay(3000);

           
        

                 byte led11[8]={
                         B10000000,
                         B10000000,
                         B10000000,
                         B10000000,
                         B10000000,
                         B10000000,
                         B11000000,
                         B00000000
                                      } ;

                 byte led12[8]={
                         B00000010,
                         B00000010,
                         B00000010,
                         B00000010,
                         B00000010,
                         B00000010,
                         B00000010,
                         B00000010
                                      } ;
          byte led13[8]={
                         B00001000,
                         B00001000,
                         B00001000,
                         B00001000,
                         B00001000,
                         B00001000,
                         B00000000,
                         B00000000
                                      } ;
          byte led14[8]={
                         B00100000,
                         B00100000,
                         B00100000,
                         B00100000,
                         B00100000,
                         B00100000,
                         B00100000,
                         B00100000
                                      } ;
for(int i=0;i<8;i++)
{
          lc.setRow(0,0,led11[0]);
          lc.setRow(0,1,led11[1]);
          lc.setRow(0,2,led11[2]);
           lc.setRow(0,3,led11[3]);
           lc.setRow(0,4,led11[4]);
           lc.setRow(0,5,led11[5]);
           lc.setRow(0,6,led11[6]);
           lc.setRow(0,7,led11[7]);
           delay(300);

          lc.setRow(0,0,led12[0]);
          lc.setRow(0,1,led12[1]);
          lc.setRow(0,2,led12[2]);
           lc.setRow(0,3,led12[3]);
           lc.setRow(0,4,led12[4]);
           lc.setRow(0,5,led12[5]);
           lc.setRow(0,6,led12[6]);
           lc.setRow(0,7,led12[7]);
           delay(300);
          lc.setRow(0,0,led13[0]);
          lc.setRow(0,1,led13[1]);
          lc.setRow(0,2,led13[2]);
           lc.setRow(0,3,led13[3]);
           lc.setRow(0,4,led13[4]);
           lc.setRow(0,5,led13[5]);
           lc.setRow(0,6,led13[6]);
           lc.setRow(0,7,led13[7]);
           delay(300);
          lc.setRow(0,0,led14[0]);
          lc.setRow(0,1,led14[1]);
          lc.setRow(0,2,led14[2]);
           lc.setRow(0,3,led14[3]);
           lc.setRow(0,4,led14[4]);
           lc.setRow(0,5,led14[5]);
           lc.setRow(0,6,led14[6]);
           lc.setRow(0,7,led14[7]);
           delay(300);
}
          dig.clearDisplay(0);
          dig.setDigit(0,0,0x0,false);
          delay(5);
          dig.setDigit(0,1,0x4,false);
          delay(5);
          dig.setDigit(0,4,0x0,false);
          delay(20);
          dig.setDigit(0,5,0x3,false);
          delay(5);
          lc.setRow(1,2,B00000000);
           delay(300);
          delay(3000);
           
 

 

               dig.clearDisplay(0);
               lc.clearDisplay(0);
                unsigned int servo_position02[18]{ 475,475,475,
                                    270,475,475,270,
                                    270,270,250,250,
                                   270,475,475,260,
                                     475,475,475};
          for (uint16_t counter1=0;counter1<16;counter1++)
          {
            servo_pwm1.setPWM(counter1, 0, servo_position02[counter1]);
            delay(50);
          }
           for (uint16_t counter1=0;counter1<16;counter1++)
          {
            servo_pwm2.setPWM(counter1, 0, servo_position02[16]);
            delay(50);
          }
               delay(3000);
          dig.setDigit(0,0,0x9,false);
          delay(5);
          dig.setDigit(0,1,0x0,false);
          delay(5);
          dig.setDigit(0,4,0x2,false);
          delay(5);
          dig.setDigit(0,5,0x0,false);
                  delay(3000);
                    for(int i=0;i<8;i++)
           { lc.setRow(1,2,B11111111);
              delay(400);
            lc.setRow(1,2,B00000000);
              delay(400);
           }
           lc.setRow(1,2,B11111111);
                delay(3000);
  }
  
void loop() 
{
    mode_flag=select();
    if(mode_flag==1) mode1();
    if(mode_flag==2) mode2();
     if(mode_flag==3) mode3();
     if(mode_flag==4) do{mode4();}while(1);
    setup();
 


    
    
    

  }