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	- Project: Arduino Robotics
	- Source Code NOT compiled for: Arduino Uno
	- Source Code created on: 2024-05-20 22:36:14

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/****** SYSTEM REQUIREMENTS *****/
/****** SYSTEM REQUIREMENT 1 *****/
	/* Arduino pid code to keep the ball in the middle of */
	/* the bar in the beam and ball control system so */
	/* that the length of the beam is 32 cm and the */
	/* ultrasonic sensor and 360 degree servo motor . */
/****** END SYSTEM REQUIREMENTS *****/

/****** DEFINITION OF LIBRARIES *****/
#include <Servo.h>  // https://github.com/arduino-libraries/Servo
#include <Ultrasonic.h>  // https://github.com/ErickSimoes/Ultrasonic

/****** FUNCTION PROTOTYPES *****/
void setup(void);
void loop(void);
void updateOutputs(void);

/***** DEFINITION OF DIGITAL INPUT PINS *****/
const uint8_t h1_HC_SR04_Echo_PIN_D4 = 4;

/***** DEFINITION OF DIGITAL OUTPUT PINS *****/
const uint8_t h1_HC_SR04_Trigger_PIN_D2 = 2;

/***** DEFINITION OF PWM OUTPUT PINS *****/
const uint8_t myservo_Servomotor_PWMSignal_PIN_D3 = 3;

/***** DEFINITION OF OUTPUT RAW VARIABLES *****/
/***** used to store raw data *****/
bool h1_HC_SR04_Trigger_PIN_D2_rawData = 0;
uint8_t myservo_Servomotor_PWMSignal_PIN_D3_rawData = 0;

/***** DEFINITION OF OUTPUT PHYSICAL VARIABLES *****/
/***** used to store data after characteristic curve transformation *****/
float h1_HC_SR04_Trigger_PIN_D2_phyData = 0.0;
float myservo_Servomotor_PWMSignal_PIN_D3_phyData = 0.0;

/****** DEFINITION OF LIBRARIES CLASS INSTANCES*****/
Servo myservo; // Initialize Servo object
Ultrasonic ultrasonic(12, 13); // Initialize Ultrasonic object with trigger pin 12 and echo pin 13

void setup(void)
{
    // put your setup code here, to run once:
    pinMode(h1_HC_SR04_Echo_PIN_D4, INPUT);
    pinMode(h1_HC_SR04_Trigger_PIN_D2, OUTPUT);
    pinMode(myservo_Servomotor_PWMSignal_PIN_D3, OUTPUT);

    myservo.attach(myservo_Servomotor_PWMSignal_PIN_D3); // Attach Servo to the PWM pin
}

void loop(void)
{
    // put your main code here, to run repeatedly:
    updateOutputs(); // Refresh output data
}

void updateOutputs()
{
    digitalWrite(h1_HC_SR04_Trigger_PIN_D2, h1_HC_SR04_Trigger_PIN_D2_rawData);
    analogWrite(myservo_Servomotor_PWMSignal_PIN_D3, myservo_Servomotor_PWMSignal_PIN_D3_rawData);
}

/* END CODE */