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();
}
