Author Archives: paynterf

ILI9341-Based Digital Clock Project

A while ago, the clock/time display on our microwave started having problems; it’s a 7-segment vacuum-flourescent display, and a couple of the segments a no longer lighting up. Instead of “End”, we now see “Erd”, and the clock is getting harder to read. The microwave itself is still running fine, but because this particular display is our primary time display in the house (aside from our phones), not having a good clock display is annoying.

I investigated getting the appropriate repair part for the display, but that module costs more than the entire microwave did originally, so that didn’t seem like a practical idea. And while I can get a cheap stick-on clock for just a few bucks, what’s the fun in that?

So, I’m in the middle of a design project to build a digital clock to replace the one on the microwave. At first I built up a clock using a Teensy 3.2 and one of my spare Nokia 5110 LCD displays, but that turned out not to be very practical, as the display is basically unreadable from more than just a few feet away, with or without backlighting.

So, I started looking around for better displays, and ran across the ILI9341 TFT display with a touch-sensitive screen. Even better, this was available with Teensy-optimized drivers, as shown here – what a deal! I started thinking that with a touch-sensitive screen, I might be able to implement some on-screen buttons for setting the time, which would be way cool!

So, I ordered two of these displays from PJRC, and started working on the design. Here’s the initial schematic

Here’s my initial breadboard setup:

Teensy 3.2 in foreground, Adafruit DS3231 RTC in background, ILI9341 TFT touch display

I originally used the Arial proportional font provided by the library, but I discovered that it produced bad artifacts after a few hours, as shown below: The only way to avoid these artifacts is to refresh the entire screen on every pass through the 1-second timing loop, which causes a very annoying ‘blink’. Eventually I figured this out, and changed to a non-proportional font, as shown below;

Non-proportional font looks worse, but doesn’t suffer from artifacts

Once I got everything working (well, except for the touch screen stuff that I plan to add later), I fabricated a nice box using Open SCAD and TinkerCad, and made a more permanent version using a half-sized ‘perma-proto’ board, as shown below

Here’s the more-or-less final schematic

7 March 2021 Update:

After a long and somewhat agonizing journey, I finally got the touch-screen stuff working, so I can now adjust the time on my digital clock using on-screen touch-sensitive controls. Here’s the updated schematic:

The only real difference between this one and the previous schematic is the T_IRQ line is no longer connected; the Teensy-optimized XPT2046_Touchscreen.h/cpp library doesn’t use it.

Here’s a short video showing how the touch-screen enabled time/date adjustment feature works:

Although I hope to clean up this code considerably in the future, I include it here in it’s entirety in it’s current state

/*
    Name:       Teensy_LCDClockV3.ino
    Created:	3/2/2021 1:37:22 PM
    Author:     FRANKNEWXPS15\Frank

    This version adds date/time adjustment using touch screen
*/

#include <XPT2046_Touchscreen.h>
#include <ILI9341_t3n.h>
#include <Wire.h>
#include "RTClib.h"
#include "elapsedMillis.h"
#include "CustomBox.h"

#define N0_DIAGNOSTICS
//****************************************************************************
// Settings and objects
//****************************************************************************

#pragma region DISPLAY_PIN_ASSIGNMENTS
//02/15/21 pin assignments from https://www.pjrc.com/store/display_ili9341_touch.html
#define TFT_DC  9
#define TFT_CS 10
#define TFT_RST 7
#define TFT_SCK 13
#define TFT_MISO 12
#define TFT_MOSI 11
#define TOUCH_CS  8
#pragma endregion DISPLAY_PIN_ASSIGNMENTS

XPT2046_Touchscreen ts(TOUCH_CS);
ILI9341_t3n tft = ILI9341_t3n(TFT_CS, TFT_DC, TFT_RST, TFT_MOSI, TFT_SCK, TFT_MISO);
elapsedMillis mSecSinceLastClockUpdate;
const int CLOCK_UPDATE_MSEC = 1000;

#pragma region DISP_AND_ADJ_BOX_PARAMETERS
// Size of the color selection boxes and the paintbrush size
#define MAX_DISPLAY_X 240
#define MAX_DISPLAY_Y 320
#define SCREEN_ORIENTATION_1

#define TS_MINX 600
#define TS_MINY 600
#define TS_MAXX 3758
#define TS_MAXY 3612

const int PLUSBOX_X = 20;
const int PLUSBOX_Y = 180;
const int PLUSBOX_WIDTH = 50;
const int PLUSBOX_HEIGHT = 50;
const int PLUSBOX_COLOR = ILI9341_BLUE;

const int MINUSBOX_X = 120;
const int MINUSBOX_Y = 180;
const int MINUSBOX_WIDTH = 50;
const int MINUSBOX_HEIGHT = 50;
const int MINUSBOX_COLOR = ILI9341_YELLOW;

const String nextstr = "NEXT";
const int nextstr_width = 70;
const int nextstr_height = 20;
const int NEXTBOX_X = 220;
const int NEXTBOX_Y = 180;
const int NEXTBOX_COLOR = ILI9341_GREEN;
const int NEXTBOX_WIDTH = 100;
const int NEXTBOX_HEIGHT = 50;

const int TIME_BOX_X = 0;
const int TIME_BOX_Y = 98;
const int TIME_BOX_WIDTH = 350;
const int TIME_BOX_HEIGHT = 74;

const int DATE_BOX_X = 0;
const int DATE_BOX_Y = 0;
const int DATE_BOX_WIDTH = 320;
const int DATE_BOX_HEIGHT = 30;

//03/05/21 used to hide adjustment boxes
const int ALL_ADJ_BOXES_WIDTH = NEXTBOX_X + NEXTBOX_WIDTH;
const int ALL_ADJ_BOXES_HEIGHT = 50;

const int TIME_HIGHLIGHT_BOX_WIDTH = 75;
const int TIME_HIGHLIGHT_BOX_HEIGHT = 5;
const int TIME_HIGHLIGHT_BOX_YLOC = 90;
const int ALL_TIME_HIGHLIGHT_BOX_WIDTH = ALL_ADJ_BOXES_WIDTH;

const int DATE_HIGHLIGHT_BOX_WIDTH = 35;
const int DATE_HIGHLIGHT_BOX_HEIGHT = 5;
const int DATE_HIGHLIGHT_BOX_YLOC = 30;
const int ALL_DATE_HIGHLIGHT_BOX_WIDTH = ALL_ADJ_BOXES_WIDTH;

CustomBox PlusBox(PLUSBOX_X, PLUSBOX_Y, PLUSBOX_WIDTH, PLUSBOX_HEIGHT, PLUSBOX_COLOR);
CustomBox MinusBox(MINUSBOX_X, MINUSBOX_Y, MINUSBOX_WIDTH, MINUSBOX_HEIGHT, MINUSBOX_COLOR);
CustomBox NextBox(NEXTBOX_X, NEXTBOX_Y, NEXTBOX_WIDTH, NEXTBOX_HEIGHT, NEXTBOX_COLOR);

CustomBox HourHighlightBox(0, TIME_HIGHLIGHT_BOX_YLOC, TIME_HIGHLIGHT_BOX_WIDTH, TIME_HIGHLIGHT_BOX_HEIGHT, ILI9341_WHITE);
CustomBox MinuteHighlightBox(100, TIME_HIGHLIGHT_BOX_YLOC, TIME_HIGHLIGHT_BOX_WIDTH, TIME_HIGHLIGHT_BOX_HEIGHT, ILI9341_WHITE);
CustomBox SecondHighlightBox(210, TIME_HIGHLIGHT_BOX_YLOC, TIME_HIGHLIGHT_BOX_WIDTH, TIME_HIGHLIGHT_BOX_HEIGHT, ILI9341_WHITE);

CustomBox MonthHighlightBox(70, DATE_HIGHLIGHT_BOX_YLOC, DATE_HIGHLIGHT_BOX_WIDTH, DATE_HIGHLIGHT_BOX_HEIGHT, ILI9341_WHITE);
CustomBox DayHighlightBox(120, DATE_HIGHLIGHT_BOX_YLOC, DATE_HIGHLIGHT_BOX_WIDTH, DATE_HIGHLIGHT_BOX_HEIGHT, ILI9341_WHITE);
CustomBox YearHighlightBox(180, DATE_HIGHLIGHT_BOX_YLOC, 2*DATE_HIGHLIGHT_BOX_WIDTH, DATE_HIGHLIGHT_BOX_HEIGHT, ILI9341_WHITE);

CustomBox TimeBox(TIME_BOX_X, TIME_BOX_Y, TIME_BOX_WIDTH, TIME_BOX_HEIGHT, ILI9341_BLACK);
CustomBox DateBox(DATE_BOX_X, DATE_BOX_Y, DATE_BOX_WIDTH, DATE_BOX_HEIGHT, ILI9341_BLACK);

enum AdjustmentState
{
  ADJ_NONE = 0,
  ADJ_HOUR,
  ADJ_MIN,
  ADJ_SEC,
  ADJ_DAYOFWEEK,
  ADJ_MONTH,
  ADJ_DAY,
  ADJ_YEAR
};

int aDaysInMonth[] = { 31,28,31,30,31,30,31,31,30,31,30,31 };

AdjustmentState CurAdjState = ADJ_NONE;


const int TOUCH_TIMEOUT_MSEC = 5000; //reverts to regular display if no further touch input
elapsedMillis mSecSinceLastTouch; //timer for touch timout
#pragma endregion Display & Adj Box Parameters


#pragma region RTC Support
#define FORCE_RTC_TO_LAST_COMPILE_TIME //uncomment to manually set RTC to last compile time

RTC_DS3231 rtc;

char daysOfTheWeek[7][12] = { "Sun", "Mon", "Tue", "Wed", "Thu", "Fri", "Sat" };
DateTime now, lastTime;
char buffer[100];
int lasthour = 0; //02/15/21 added to refresh screen on the hour

struct tStamp
{
  unsigned long mSec;
  byte RTC_Status;
};

#define DS3231_ADDRESS 0x68   ///< I2C address for DS3231
#define DS3231_STATUSREG 0x0F ///< Status register

#define RTCStatArraySize 10
#define RTCStatTime_IntervalMsec 100
tStamp RTCStatArray[RTCStatArraySize];


#pragma endregion RTC Support

void setup()
{
  Serial.begin(9600);
  delay(3000);

  Serial.println("Teensy 3.2 TFT Clock Program");

#pragma region DISPLAY INITIALIZATION
  Serial.println("Initializing TFT display");

  tft.begin();
  // Note: you can now set the SPI speed to any value
  // the default value is 30Mhz, but most ILI9341 displays
  // can handle at least 60Mhz and as much as 100Mhz
  //  tft.setClock(60000000);
  tft.fillScreen(ILI9341_BLACK);
  tft.setTextColor(ILI9341_YELLOW);
  tft.setTextSize(2);
  tft.setRotation(1);
#pragma endregion region DISPLAY INITIALIZATION

#pragma region TFT DIAGNOSTICS
#ifndef N0_DIAGNOSTICS

  // read diagnostics (optional but can help debug problems)
  uint8_t x = tft.readcommand8(ILI9341_RDMODE);
  Serial.print("Display Power Mode: 0x"); Serial.println(x, HEX);
  x = tft.readcommand8(ILI9341_RDMADCTL);
  Serial.print("MADCTL Mode: 0x"); Serial.println(x, HEX);
  x = tft.readcommand8(ILI9341_RDPIXFMT);
  Serial.print("Pixel Format: 0x"); Serial.println(x, HEX);
  x = tft.readcommand8(ILI9341_RDIMGFMT);
  Serial.print("Image Format: 0x"); Serial.println(x, HEX);
  x = tft.readcommand8(ILI9341_RDSELFDIAG);
  Serial.print("Self Diagnostic: 0x"); Serial.println(x, HEX);

  Serial.println(F("Benchmark                Time (microseconds)"));

  Serial.print(F("Screen fill              "));
  Serial.println(testFillScreen());
  delay(200);

  Serial.print(F("Text                     "));
  Serial.println(testText());
  delay(600);

  Serial.print(F("Proportional Text        "));
  Serial.println(testProportionalText());
  delay(600);

  Serial.print(F("Lines                    "));
  Serial.println(testLines(ILI9341_CYAN));
  delay(200);

  Serial.print(F("Horiz/Vert Lines         "));
  Serial.println(testFastLines(ILI9341_RED, ILI9341_BLUE));
  delay(200);

  Serial.print(F("Rectangles (outline)     "));
  Serial.println(testRects(ILI9341_GREEN));
  delay(200);

  Serial.print(F("Rectangles (filled)      "));
  Serial.println(testFilledRects(ILI9341_YELLOW, ILI9341_MAGENTA));
  delay(200);

  Serial.print(F("Circles (filled)         "));
  Serial.println(testFilledCircles(10, ILI9341_MAGENTA));

  Serial.print(F("Circles (outline)        "));
  Serial.println(testCircles(10, ILI9341_WHITE));
  delay(200);

  Serial.print(F("Triangles (outline)      "));
  Serial.println(testTriangles());
  delay(200);

  Serial.print(F("Triangles (filled)       "));
  Serial.println(testFilledTriangles());
  delay(200);

  Serial.print(F("Rounded rects (outline)  "));
  Serial.println(testRoundRects());
  delay(200);

  Serial.print(F("Rounded rects (filled)   "));
  Serial.println(testFilledRoundRects());
  delay(200);

  Serial.println(F("Done!"));
#endif // !N0_DIAGNOSTICS
#pragma endregion region TFT DIAGNOSTICS

#pragma region RTC_SETUP
  DateBox.Draw(&tft); //erase previous text
  tft.setCursor(0, 0);
  Serial.println("Initializing RTC...");
  tft.println("Initializing RTC...");
  delay(1000);

  if (!rtc.begin())
  {
    DateBox.Draw(&tft); //erase previous text
    tft.setCursor(0, 0);
    Serial.println("Couldn't find RTC");
    tft.println("Couldn't find RTC");
    while (1);
  }

  bool lp = rtc.lostPower();
  Serial.print("lostPower() reports "); Serial.println(lp);
  DateBox.Draw(&tft); //erase previous text
  tft.setCursor(0, 0);
  tft.printf("lostPower() = %d\n", lp);
  delay(1000);
  if (rtc.lostPower())
  {
    Serial.println("RTC lost power.  Setting RTC to last compile time");
    DateBox.Draw(&tft); //erase previous text
    tft.setCursor(0, 0);
    tft.println("RTC lost power.  Setting RTC to last compile time");

    // following line sets the RTC to the date & time this sketch was compiled
    rtc.adjust(DateTime(F(__DATE__), F(__TIME__)));
  }

#ifdef FORCE_RTC_TO_LAST_COMPILE_TIME
  Serial.println("Forcing RTC to last compile time");
  // following line sets the RTC to the date & time this sketch was compiled
  rtc.adjust(DateTime(F(__DATE__), F(__TIME__)));
#endif // 

  //DateTime now = rtc.now();
  now = rtc.now();
  //char buffer[100];
  memset(buffer, '\0', 100);
  GetDayDateTimeStringFromDateTime(now, buffer);
  Serial.println("Retrieving Date/Time from RTC....");
  Serial.print("Date String = "); Serial.println(buffer);
#pragma endregion RTC_SETUP


  //DEBUG!!
    //tft.println("Setting time to just before midnight");
    //rtc.adjust(DateTime(2021, 02, 13, 00, 59, 45));
  //DEBUG!!

    //02/15/21 needed detect hour changes for screen refresh
  now = rtc.now();
  lasthour = now.hour();
  mSecSinceLastClockUpdate = 0; //used to space out clock updates in loop()
}


void loop(void)
{

  //Serial.printf("%lu: mSecSinceLastClockUpdate = %lu\n", millis(), (long int)mSecSinceLastClockUpdate);
  delay(100);

  //see if there is a touch anywhere
  if (ts.touched())
  {
    mSecSinceLastTouch = 0; //reset the timeout watchdog

    while (mSecSinceLastTouch < TOUCH_TIMEOUT_MSEC)
    {
      //Serial.printf("mSecSinceLastTouch = %lu\n", (unsigned long int)mSecSinceLastTouch);
      
      TS_Point Tp = ts.getPoint();// Retrieve the touch point
      if (Tp.z > 1000)
      {
        mSecSinceLastTouch = 0; //reset the timeout watchdog
        TS_Point Dp = GetTouchPointInDisplayCoords(Tp);

        CurAdjState = (AdjustmentState)AdjustTimeAndDate(Dp);
        //Serial.printf("Tp.z = %d: AdjustTimeAndDate(%d, %d) returns %d\n", Tp.z, Dp.x, Dp.y, (int)CurAdjState);

        if (CurAdjState > ADJ_NONE)
        {
          ShowLongTimeDisplay();
          ShowAdjButtons();
        }
      }
    }

    HideButtons();
    HideHighlightBars();
    ShowNormalTimeDisplay();
    ShowDateDisplay();
    CurAdjState = ADJ_NONE;

    mSecSinceLastClockUpdate = 0;
  }


  if (mSecSinceLastClockUpdate > CLOCK_UPDATE_MSEC)
  {
    mSecSinceLastClockUpdate -= CLOCK_UPDATE_MSEC;
    now = rtc.now();
    
    ShowDateDisplay(); //Display day and date

    //Display time
    if (CurAdjState > ADJ_NONE)
    {
      ShowLongTimeDisplay();
    }
    else
    {
      ShowNormalTimeDisplay();
    }
  }
}

#pragma region DATE_TIME_FUNCTIONS
void GetDayDateTimeStringFromDateTime(DateTime dt, char* bufptr)
{
  int mydayofweek = dt.dayOfTheWeek();
  //mydayofweek = (mydayofweek < 0) ? 0 : mydayofweek; //guard for return of 0 from weekday()
  int myday = dt.day();
  int mymonth = dt.month();
  int myyear = dt.year();
  int myhour = dt.hour();
  int mymin = dt.minute();
  int mysec = dt.second();
  char* dayofweek = (char*)daysOfTheWeek[mydayofweek];

  sprintf(bufptr, "%s %4d/%02d/%02d at %02d:%02d:%02d", dayofweek, mymonth, myday, myyear, myhour, mymin, mysec);
}


void HourStringFromDateTime(DateTime dt, char* bufptr)
{
  int hourval = dt.hour();
  if (hourval > 12)
  {
    hourval -= 12;
  }

  //sprintf(bufptr, "%02d", hourval);
  sprintf(bufptr, "%d", hourval);
}

void MinuteStringFromDateTime(DateTime dt, char* bufptr)
{
  sprintf(bufptr, "%02d", dt.minute());
}
#pragma endregion DATE_TIME_FUNCTIONS

AdjustmentState AdjustTimeAndDate(TS_Point Dp)
{
  AdjustmentState adjstate = ADJ_NONE;
  DateTime newtime;
  DateTime now = rtc.now();
  //int new_hour, new_minute, new_month, new_day, new_year;
  int new_hour, new_minute, new_month, new_day;

  //Serial.printf("In GetCurAdjState with CurAdjState = %d, at point (%d,%d)\n", CurAdjState, Dp.x, Dp.y);

  switch (CurAdjState)
  {
  case ADJ_NONE:
    if (TimeBox.TouchHit(Dp.x, Dp.y))
    {
      adjstate = ADJ_HOUR; //always start with hour
      ShowHighlightBar(ADJ_HOUR);
    }
    else if (DateBox.TouchHit(Dp.x, Dp.y))
    {
      adjstate = ADJ_MONTH; //always start with month
      ShowHighlightBar(ADJ_MONTH);
    }
    break;
  case ADJ_HOUR:
    Serial.print("In GetCurAdjState ADJ_HOUR case\n");
    adjstate = ADJ_HOUR;

    if (PlusBox.TouchHit(Dp.x, Dp.y))
    {
      Serial.printf("Plus box touch at (%d,%d)\n", Dp.x, Dp.y);
      Serial.printf("Old time is %d/%d/%d %d:%d\n", now.month(), now.day(), now.year(), now.hour(), now.minute());
      new_hour = now.hour() + 1;
      if (new_hour >= 24)
      {
        new_hour -= 24;
      }
      newtime = DateTime(now.year(), now.month(), now.day(), new_hour, now.minute(), now.second());
      Serial.printf("New time is %d/%d/%d %d:%d\n", newtime.month(), newtime.day(), newtime.year(), newtime.hour(), newtime.minute());
      rtc.adjust(newtime);
      now = rtc.now();
      Serial.printf("RTC now set to %d/%d/%d %d:%d\n", now.day(), now.month(), now.year(), now.hour(), now.minute());
      ShowLongTimeDisplay();
      delay(500);  //delay for a while to avoid multiple 'add' operations
    }
    else if (MinusBox.TouchHit(Dp.x, Dp.y))
    {
      Serial.printf("Minus box touch at (%d,%d)\n", Dp.x, Dp.y);
      Serial.printf("Old time is %d/%d/%d %d:%d\n", now.month(), now.day(), now.year(), now.hour(), now.minute());
      new_hour = now.hour() - 1;
      if (new_hour < 0)
      {
        new_hour += 24;
      }
      newtime = DateTime(now.year(), now.month(), now.day(), new_hour, now.minute(), now.second());
      Serial.printf("New time is %d/%d/%d %d:%d\n", newtime.month(), newtime.day(), newtime.year(), newtime.hour(), newtime.minute());
      rtc.adjust(newtime);
      now = rtc.now();
      Serial.printf("RTC now set to %d/%d/%d %d:%d\n", now.day(), now.month(), now.year(), now.hour(), now.minute());
      ShowLongTimeDisplay();
      delay(500);  //delay for a while to avoid multiple 'add' operations
    }
    else if (NextBox.TouchHit(Dp.x, Dp.y))
    {
      //Serial.printf("Next box touch at (%d,%d)\n", Dp.x, Dp.y);
      adjstate = ADJ_MIN;
      ShowHighlightBar(ADJ_MIN);
      delay(500); //prevent multiple NEXT transitions
    }
    break;
  case ADJ_MIN:
    Serial.print("In GetCurAdjState ADJ_MIN case\n");
    adjstate = ADJ_MIN;

    if (PlusBox.TouchHit(Dp.x, Dp.y))
    {
      Serial.printf("Plus box touch at (%d,%d)\n", Dp.x, Dp.y);
      Serial.printf("Old time is %d/%d/%d %d:%d\n", now.month(), now.day(), now.year(), now.hour(), now.minute());
      new_minute = now.minute() + 1;
      if (new_minute >= 60)
      {
        new_minute = 0;
      }

      newtime = DateTime(now.year(), now.month(), now.day(), now.hour(), new_minute, now.second());
      Serial.printf("New time is %d/%d/%d %d:%d\n", newtime.month(), newtime.day(), newtime.year(), newtime.hour(), newtime.minute());
      rtc.adjust(newtime);
      now = rtc.now();
      Serial.printf("RTC now set to %d/%d/%d %d:%d\n", now.day(), now.month(), now.year(), now.hour(), now.minute());
      ShowLongTimeDisplay();
      delay(500);  //delay for a while to avoid multiple 'add' operations
    }
    else if (MinusBox.TouchHit(Dp.x, Dp.y))
    {
      Serial.printf("Minus box touch at (%d,%d)\n", Dp.x, Dp.y);
      newtime = DateTime(now.year(), now.month(), now.day(), now.hour(), now.minute() - 1);
      Serial.printf("ADJ_HOUR case in DoMinusOp().  Decrementing Hour Value\n");
      Serial.printf("Old time is %d:%d:%d:%d\n", now.day(), now.month(), now.year(), now.hour());
      Serial.printf("New time is %d:%d:%d:%d\n", newtime.day(), newtime.month(), newtime.year(), newtime.hour());
      rtc.adjust(newtime);
      Serial.printf("RTC now set to %d:%d:%d:%d\n", now.day(), now.month(), now.year(), now.hour());
      ShowLongTimeDisplay();
      delay(500);  //delay for a while to avoid multiple 'add' operations
    }
    else if (NextBox.TouchHit(Dp.x, Dp.y))
    {
      //Serial.printf("Next box touch at (%d,%d)\n", Dp.x, Dp.y);
      adjstate = ADJ_SEC;
      ShowHighlightBar(ADJ_SEC);
      delay(500); //prevent multiple NEXT transitions
    }
    break;
  case ADJ_SEC:
    Serial.print("In GetCurAdjState ADJ_SEC case\n");
    adjstate = ADJ_SEC;

    if (PlusBox.TouchHit(Dp.x, Dp.y))
    {
      Serial.printf("Plus box touch at (%d,%d)\n", Dp.x, Dp.y);
      Serial.printf("Old time is %d/%d/%d %d:%d:%d\n", now.month(), now.day(), now.year(), now.hour(), now.minute(), now.second());

      newtime = DateTime(now.year(), now.month(), now.day(), now.hour(), now.minute(), 0);
      Serial.printf("New time is %d/%d/%d %d:%d:%d\n", newtime.month(), newtime.day(), newtime.year(), newtime.hour(), newtime.minute(), newtime.second());
      rtc.adjust(newtime);
      now = rtc.now();
      Serial.printf("RTC now set to %d/%d/%d %d:%d:%d\n", now.day(), now.month(), now.year(), now.hour(), now.minute(), now.second());
      ShowLongTimeDisplay();
      delay(500);  //delay for a while to avoid multiple 'add' operations
    }
    else if (MinusBox.TouchHit(Dp.x, Dp.y))
    {
      Serial.printf("Minus box touch at (%d,%d)\n", Dp.x, Dp.y);
      Serial.printf("Old time is %d/%d/%d %d:%d:%d\n", now.month(), now.day(), now.year(), now.hour(), now.minute(), now.second());

      newtime = DateTime(now.year(), now.month(), now.day(), now.hour(), now.minute(), 0);
      Serial.printf("New time is %d/%d/%d %d:%d:%d\n", newtime.month(), newtime.day(), newtime.year(), newtime.hour(), newtime.minute(), newtime.second());
      rtc.adjust(newtime);
      now = rtc.now();
      Serial.printf("RTC now set to %d/%d/%d %d:%d:%d\n", now.day(), now.month(), now.year(), now.hour(), now.minute(), now.second());
      ShowLongTimeDisplay();
      delay(500);  //delay for a while to avoid multiple 'add' operations
    }
    else if (NextBox.TouchHit(Dp.x, Dp.y))
    {
      //Serial.printf("Next box touch at (%d,%d)\n", Dp.x, Dp.y);
      adjstate = ADJ_HOUR;
      ShowHighlightBar(ADJ_HOUR);
      delay(500); //prevent multiple NEXT transitions
    }
    break;
  case ADJ_DAYOFWEEK:
    break;
  case ADJ_MONTH:
    Serial.print("In GetCurAdjState ADJ_MONTH case\n");
    adjstate = ADJ_MONTH;

    if (PlusBox.TouchHit(Dp.x, Dp.y))
    {
      Serial.printf("Plus box touch at (%d,%d)\n", Dp.x, Dp.y);
      Serial.printf("Old time is %d/%d/%d %d:%d\n", now.month(), now.day(), now.year(), now.hour(), now.minute());
      new_month = now.month() + 1;
      if (new_month > 12)
      {
        new_month -= 12;
      }
      newtime = DateTime(now.year(), new_month, now.day(), now.hour(), now.minute(), now.second());
      Serial.printf("New time is %d/%d/%d %d:%d\n", newtime.month(), newtime.day(), newtime.year(), newtime.hour(), newtime.minute());
      rtc.adjust(newtime);
      now = rtc.now();
      Serial.printf("RTC now set to %d/%d/%d %d:%d\n", now.month(), now.day(), now.year(), now.hour(), now.minute());
      ShowDateDisplay();
      delay(500);  //delay for a while to avoid multiple 'add' operations
    }
    else if (MinusBox.TouchHit(Dp.x, Dp.y))
    {
      Serial.printf("Minus box touch at (%d,%d)\n", Dp.x, Dp.y);
      Serial.printf("Old time is %d/%d/%d %d:%d\n", now.month(), now.day(), now.year(), now.hour(), now.minute());
      new_month = now.month() - 1;
      new_month = (new_month <= 0) ? 12 : new_month;
      newtime = DateTime(now.year(), new_month, now.day(), now.hour(), now.minute(), now.second());
      Serial.printf("New time is %d/%d/%d %d:%d\n", newtime.month(), newtime.day(), newtime.year(), newtime.hour(), newtime.minute());
      rtc.adjust(newtime);
      now = rtc.now();
      Serial.printf("RTC now set to %d/%d/%d %d:%d\n", now.day(), now.month(), now.year(), now.hour(), now.minute());
      ShowDateDisplay();
      delay(500);  //delay for a while to avoid multiple 'add' operations
    }
    else if (NextBox.TouchHit(Dp.x, Dp.y))
    {
      //Serial.printf("Next box touch at (%d,%d)\n", Dp.x, Dp.y);
      adjstate = ADJ_DAY;
      ShowHighlightBar(ADJ_DAY);
      delay(500); //prevent multiple NEXT transitions
    }
    break;
  case ADJ_DAY:
    Serial.print("In GetCurAdjState ADJ_DAY case\n");
    adjstate = ADJ_DAY;

    if (PlusBox.TouchHit(Dp.x, Dp.y))
    {
      Serial.printf("Plus box touch at (%d,%d)\n", Dp.x, Dp.y);
      Serial.printf("Old time is %d/%d/%d %d:%d\n", now.month(), now.day(), now.year(), now.hour(), now.minute());
      new_day = AdjustDayValue(now.month(), now.day() + 1); //not all months have same number of days
      newtime = DateTime(now.year(), now.month(), new_day, now.hour(), now.minute(), now.second());
      Serial.printf("New time is %d/%d/%d %d:%d\n", newtime.month(), newtime.day(), newtime.year(), newtime.hour(), newtime.minute());
      rtc.adjust(newtime);
      now = rtc.now();
      Serial.printf("RTC now set to %d/%d/%d %d:%d\n", now.day(), now.month(), now.year(), now.hour(), now.minute());
      ShowDateDisplay();
      delay(500);  //delay for a while to avoid multiple 'add' operations
    }
    else if (MinusBox.TouchHit(Dp.x, Dp.y))
    {
      Serial.printf("Minus box touch at (%d,%d)\n", Dp.x, Dp.y);
      Serial.printf("Old time is %d/%d/%d %d:%d\n", now.month(), now.day(), now.year(), now.hour(), now.minute());
      new_day = now.day() - 1;
      new_day = (new_day <= 0) ? aDaysInMonth[now.month() - 1] : new_day;
      newtime = DateTime(now.year(), now.month(), new_day, now.hour(), now.minute(), now.second());
      Serial.printf("New time is %d/%d/%d %d:%d\n", newtime.month(), newtime.day(), newtime.year(), newtime.hour(), newtime.minute());
      rtc.adjust(newtime);
      now = rtc.now();
      Serial.printf("RTC now set to %d/%d/%d %d:%d\n", now.day(), now.month(), now.year(), now.hour(), now.minute());
      ShowDateDisplay();
      delay(500);  //delay for a while to avoid multiple 'add' operations
    }
    else if (NextBox.TouchHit(Dp.x, Dp.y))
    {
      //Serial.printf("Next box touch at (%d,%d)\n", Dp.x, Dp.y);
      adjstate = ADJ_YEAR;
      ShowHighlightBar(ADJ_YEAR);
      delay(500); //prevent multiple NEXT transitions
    }
    break;
  case ADJ_YEAR:
    Serial.print("In GetCurAdjState ADJ_YEAR case\n");
    adjstate = ADJ_YEAR;

    if (PlusBox.TouchHit(Dp.x, Dp.y))
    {
      Serial.printf("Plus box touch at (%d,%d)\n", Dp.x, Dp.y);
      Serial.printf("Old time is %d/%d/%d %d:%d\n", now.month(), now.day(), now.year(), now.hour(), now.minute());
      newtime = DateTime(now.year() + 1, now.month(), now.day(), now.hour(), now.minute(), now.second());
      Serial.printf("New time is %d/%d/%d %d:%d\n", newtime.month(), newtime.day(), newtime.year(), newtime.hour(), newtime.minute());
      rtc.adjust(newtime);
      now = rtc.now();
      Serial.printf("RTC now set to %d/%d/%d %d:%d\n", now.month(), now.day(), now.year(), now.hour(), now.minute());
      ShowDateDisplay();
      delay(500);  //delay for a while to avoid multiple 'add' operations
    }
    else if (MinusBox.TouchHit(Dp.x, Dp.y))
    {
      Serial.printf("Minus box touch at (%d,%d)\n", Dp.x, Dp.y);
      Serial.printf("Old time is %d/%d/%d %d:%d\n", now.month(), now.day(), now.year(), now.hour(), now.minute());
      newtime = DateTime(now.year() - 1, now.month(), now.day(), now.hour(), now.minute(), now.second());
      Serial.printf("New time is %d/%d/%d %d:%d\n", newtime.month(), newtime.day(), newtime.year(), newtime.hour(), newtime.minute());
      rtc.adjust(newtime);
      now = rtc.now();
      Serial.printf("RTC now set to %d/%d/%d %d:%d\n", now.day(), now.month(), now.year(), now.hour(), now.minute());
      ShowDateDisplay();
      delay(500);  //delay for a while to avoid multiple 'add' operations
    }
    else if (NextBox.TouchHit(Dp.x, Dp.y))
    {
      //Serial.printf("Next box touch at (%d,%d)\n", Dp.x, Dp.y);
      adjstate = ADJ_MONTH;
      ShowHighlightBar(ADJ_MONTH);
      delay(500); //prevent multiple NEXT transitions
    }
    break;
  default:
    break;
  }

  //Serial.printf("AdjustTimeAndDate(%d, %d) returns %d\n", Dp.x, Dp.y, (int)adjstate);
  return adjstate ;
}

#pragma region Helper Functions
TS_Point GetTouchPointInDisplayCoords(TS_Point Tp)
{
  //Purpose:  Retrieve a touch point in display coordinate system
  //Inputs:
  //  Rotation value
  //  Mapping values
  //  TS_Point from touch chip
  //Outputs:
  //  TS_Point object containing touch (X,Y) in display coordinates
  //Plan:
  //  Step1: Retrieve touch point from touch chip
  //  Step2: Map to display coordinates taking rotation into account

//Step1: Retrieve touch point from touch chip
  //TS_Point Tp = ts.getPoint();
  TS_Point Dp;
  //Step2: Map to display coordinates taking rotation into account
#ifdef SCREEN_ORIENTATION_1
  Dp.x = map(Tp.x, TS_MAXX, TS_MINX, 0, tft.width());
  Dp.y = map(Tp.y, TS_MAXY, TS_MINY, 0, tft.height());
#else
#endif

  ////DEBUG!!
  //Serial.printf(" GetTouchPointInDisplayCoords: %lu\t%d\t%d\t%d\t%d\t%d\n",
  //  millis(), Tp.x, Tp.y, Tp.z, Dp.x, Dp.y);
  ////DEBUG!!

  return Dp;
}

void ShowAdjButtons()
{
  PlusBox.Draw(&tft, '+', ILI9341_BLACK);
  MinusBox.Draw(&tft, '-', ILI9341_BLACK);

  //03/04/21 getTextBounds() reports wrong info - use 70w x 20 tall
  int txt_x = NEXTBOX_X + round((float)(NEXTBOX_WIDTH / 2.)) - round((float)(70 / 2.));
  int txt_y = NEXTBOX_Y + round((float)(NEXTBOX_HEIGHT / 2.)) - round((float)(20 / 2.));
  tft.setCursor(txt_x, txt_y);
  tft.setTextSize(3);
  tft.setTextColor(ILI9341_BLACK);
  String boxstr = "NEXT";
  NextBox.Draw(&tft);
  tft.print(boxstr);
}

void HideButtons()
{
  PlusBox.Draw(&tft, ILI9341_BLACK);
  MinusBox.Draw(&tft, ILI9341_BLACK);
  NextBox.Draw(&tft, ILI9341_BLACK);
}

void ShowNormalTimeDisplay()
{
  //Serial.printf("In ShowNormalTimeDisplay\n");
  now = rtc.now();
  tft.setCursor(0, 100);
  tft.setTextColor(ILI9341_RED);
  tft.setTextSize(10);
  TimeBox.Draw(&tft);
  tft.setCursor(0, 100);
  int hournum = now.hour();

  //guard against 1259->1300 && 2359->0000 transitions
  if (hournum > 12)
  {
    hournum -= 12;
  }
  else if (hournum == 0)
  {
    hournum += 12;
  }

  hournum = (hournum > 12) ? hournum - 12 : hournum;

  tft.printf("%2d:%02d", hournum, now.minute());
}

void ShowLongTimeDisplay()
{
  //Serial.printf("In ShowLongTimeDisplay\n");
  now = rtc.now();
  tft.setCursor(0, 100);
  tft.setTextColor(ILI9341_RED);
  //tft.setTextSize(10);
  tft.setTextSize(6);
  tft.fillRect(0, 98, 350, 74, ILI9341_BLACK);
  //tft.fillRect(0, 98, 350, 74, ILI9341_YELLOW);
  tft.setCursor(0, 100);
  int hournum = now.hour();

  //guard against 1259->1300 && 2359->0000 transitions
  if (hournum > 12)
  {
    hournum -= 12;
  }
  else if (hournum == 0)
  {
    hournum += 12;
  }

  hournum = (hournum > 12) ? hournum - 12 : hournum;

  tft.printf("%2d:%02d:%02d", hournum, now.minute(), now.second());
}


void ShowHighlightBar(AdjustmentState adjstate)
{
  switch (adjstate)
  {
  case ADJ_NONE:
    Serial.printf("ADJ_NONE case in ShowHighlightBox()\n");
    HideHighlightBars();
    break;
  case ADJ_HOUR:
    HideHighlightBars();
    HourHighlightBox.Draw(&tft);
    break;
  case ADJ_MIN:
    HideHighlightBars();
    MinuteHighlightBox.Draw(&tft);
    break;
  case ADJ_SEC:
    HideHighlightBars();
    SecondHighlightBox.Draw(&tft);
    break;
  case ADJ_DAYOFWEEK:
    break;
  case ADJ_MONTH:
    HideHighlightBars();
    MonthHighlightBox.Draw(&tft);
    break;
  case ADJ_DAY:
    HideHighlightBars();
    DayHighlightBox.Draw(&tft);
    break;
  case ADJ_YEAR:
    HideHighlightBars();
    YearHighlightBox.Draw(&tft);
    break;
  default:
    break;
  }
}

void HideHighlightBars()
{
  tft.fillRect(0, DATE_HIGHLIGHT_BOX_YLOC, ALL_DATE_HIGHLIGHT_BOX_WIDTH, DATE_HIGHLIGHT_BOX_HEIGHT, ILI9341_BLACK);
  tft.fillRect(0, TIME_HIGHLIGHT_BOX_YLOC, ALL_TIME_HIGHLIGHT_BOX_WIDTH, TIME_HIGHLIGHT_BOX_HEIGHT, ILI9341_BLACK);
}

void ShowDateDisplay()
{
  DateTime now = rtc.now();
  DateBox.Draw(&tft);
  tft.setTextColor(ILI9341_YELLOW);
  tft.setCursor(0, 0);
  tft.setTextSize(3);
  tft.printf("%s %02d/%02d/%02d\n",
    daysOfTheWeek[now.dayOfTheWeek()], now.month(), now.day(), now.year());
}

int AdjustDayValue(int month, int day)
{
  if (day > aDaysInMonth[month-1])
  {
    Serial.printf("%d is greater than max days (%d) for this month - setting to 1\n", day, aDaysInMonth[month-1] );
    return 1;
  }
  else
  {
    return day;
  }
}
#pragma endregion Helper Functions

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Name: Teensy_LCDClockV3.ino

Created: 3/2/2021 1:37:22 PM

Author: FRANKNEWXPS15\Frank

This version adds date/time adjustment using touch screen

#include <XPT2046_Touchscreen.h>

#include <ILI9341_t3n.h>

#include <Wire.h>

#include "RTClib.h"

#include "elapsedMillis.h"

#include "CustomBox.h"

#define N0_DIAGNOSTICS

//****************************************************************************

// Settings and objects

//****************************************************************************

#pragma region DISPLAY_PIN_ASSIGNMENTS

//02/15/21 pin assignments from https://www.pjrc.com/store/display_ili9341_touch.html

#define TFT_DC 9

#define TFT_CS 10

#define TFT_RST 7

#define TFT_SCK 13

#define TFT_MISO 12

#define TFT_MOSI 11

#define TOUCH_CS 8

#pragma endregion DISPLAY_PIN_ASSIGNMENTS

XPT2046_Touchscreen ts(TOUCH_CS);

ILI9341_t3n tft = ILI9341_t3n(TFT_CS, TFT_DC, TFT_RST, TFT_MOSI, TFT_SCK, TFT_MISO);

elapsedMillis mSecSinceLastClockUpdate;

const int CLOCK_UPDATE_MSEC = 1000;

#pragma region DISP_AND_ADJ_BOX_PARAMETERS

// Size of the color selection boxes and the paintbrush size

#define MAX_DISPLAY_X 240

#define MAX_DISPLAY_Y 320

#define SCREEN_ORIENTATION_1

#define TS_MINX 600

#define TS_MINY 600

#define TS_MAXX 3758

#define TS_MAXY 3612

const int PLUSBOX_X = 20;

const int PLUSBOX_Y = 180;

const int PLUSBOX_WIDTH = 50;

const int PLUSBOX_HEIGHT = 50;

const int PLUSBOX_COLOR = ILI9341_BLUE;

const int MINUSBOX_X = 120;

const int MINUSBOX_Y = 180;

const int MINUSBOX_WIDTH = 50;

const int MINUSBOX_HEIGHT = 50;

const int MINUSBOX_COLOR = ILI9341_YELLOW;

const String nextstr = "NEXT";

const int nextstr_width = 70;

const int nextstr_height = 20;

const int NEXTBOX_X = 220;

const int NEXTBOX_Y = 180;

const int NEXTBOX_COLOR = ILI9341_GREEN;

const int NEXTBOX_WIDTH = 100;

const int NEXTBOX_HEIGHT = 50;

const int TIME_BOX_X = 0;

const int TIME_BOX_Y = 98;

const int TIME_BOX_WIDTH = 350;

const int TIME_BOX_HEIGHT = 74;

const int DATE_BOX_X = 0;

const int DATE_BOX_Y = 0;

const int DATE_BOX_WIDTH = 320;

const int DATE_BOX_HEIGHT = 30;

//03/05/21 used to hide adjustment boxes

const int ALL_ADJ_BOXES_WIDTH = NEXTBOX_X + NEXTBOX_WIDTH;

const int ALL_ADJ_BOXES_HEIGHT = 50;

const int TIME_HIGHLIGHT_BOX_WIDTH = 75;

const int TIME_HIGHLIGHT_BOX_HEIGHT = 5;

const int TIME_HIGHLIGHT_BOX_YLOC = 90;

const int ALL_TIME_HIGHLIGHT_BOX_WIDTH = ALL_ADJ_BOXES_WIDTH;

const int DATE_HIGHLIGHT_BOX_WIDTH = 35;

const int DATE_HIGHLIGHT_BOX_HEIGHT = 5;

const int DATE_HIGHLIGHT_BOX_YLOC = 30;

const int ALL_DATE_HIGHLIGHT_BOX_WIDTH = ALL_ADJ_BOXES_WIDTH;

CustomBox PlusBox(PLUSBOX_X, PLUSBOX_Y, PLUSBOX_WIDTH, PLUSBOX_HEIGHT, PLUSBOX_COLOR);

CustomBox MinusBox(MINUSBOX_X, MINUSBOX_Y, MINUSBOX_WIDTH, MINUSBOX_HEIGHT, MINUSBOX_COLOR);

CustomBox NextBox(NEXTBOX_X, NEXTBOX_Y, NEXTBOX_WIDTH, NEXTBOX_HEIGHT, NEXTBOX_COLOR);

CustomBox HourHighlightBox(0, TIME_HIGHLIGHT_BOX_YLOC, TIME_HIGHLIGHT_BOX_WIDTH, TIME_HIGHLIGHT_BOX_HEIGHT, ILI9341_WHITE);

CustomBox MinuteHighlightBox(100, TIME_HIGHLIGHT_BOX_YLOC, TIME_HIGHLIGHT_BOX_WIDTH, TIME_HIGHLIGHT_BOX_HEIGHT, ILI9341_WHITE);

CustomBox SecondHighlightBox(210, TIME_HIGHLIGHT_BOX_YLOC, TIME_HIGHLIGHT_BOX_WIDTH, TIME_HIGHLIGHT_BOX_HEIGHT, ILI9341_WHITE);

CustomBox MonthHighlightBox(70, DATE_HIGHLIGHT_BOX_YLOC, DATE_HIGHLIGHT_BOX_WIDTH, DATE_HIGHLIGHT_BOX_HEIGHT, ILI9341_WHITE);

CustomBox DayHighlightBox(120, DATE_HIGHLIGHT_BOX_YLOC, DATE_HIGHLIGHT_BOX_WIDTH, DATE_HIGHLIGHT_BOX_HEIGHT, ILI9341_WHITE);

CustomBox YearHighlightBox(180, DATE_HIGHLIGHT_BOX_YLOC, 2*DATE_HIGHLIGHT_BOX_WIDTH, DATE_HIGHLIGHT_BOX_HEIGHT, ILI9341_WHITE);

CustomBox TimeBox(TIME_BOX_X, TIME_BOX_Y, TIME_BOX_WIDTH, TIME_BOX_HEIGHT, ILI9341_BLACK);

CustomBox DateBox(DATE_BOX_X, DATE_BOX_Y, DATE_BOX_WIDTH, DATE_BOX_HEIGHT, ILI9341_BLACK);

enum AdjustmentState

{

ADJ_NONE = 0,

ADJ_HOUR,

ADJ_MIN,

ADJ_SEC,

ADJ_DAYOFWEEK,

ADJ_MONTH,

ADJ_DAY,

ADJ_YEAR

};

int aDaysInMonth[] = { 31,28,31,30,31,30,31,31,30,31,30,31 };

AdjustmentState CurAdjState = ADJ_NONE;

const int TOUCH_TIMEOUT_MSEC = 5000; //reverts to regular display if no further touch input

elapsedMillis mSecSinceLastTouch; //timer for touch timout

#pragma endregion Display & Adj Box Parameters

#pragma region RTC Support

#define FORCE_RTC_TO_LAST_COMPILE_TIME //uncomment to manually set RTC to last compile time

RTC_DS3231 rtc;

char daysOfTheWeek[7][12] = { "Sun", "Mon", "Tue", "Wed", "Thu", "Fri", "Sat" };

DateTime now, lastTime;

char buffer[100];

int lasthour = 0; //02/15/21 added to refresh screen on the hour

struct tStamp

{

unsigned long mSec;

byte RTC_Status;

};

#define DS3231_ADDRESS 0x68 ///< I2C address for DS3231

#define DS3231_STATUSREG 0x0F ///< Status register

#define RTCStatArraySize 10

#define RTCStatTime_IntervalMsec 100

tStamp RTCStatArray[RTCStatArraySize];

#pragma endregion RTC Support

void setup()

{

Serial.begin(9600);

delay(3000);

Serial.println("Teensy 3.2 TFT Clock Program");

#pragma region DISPLAY INITIALIZATION

Serial.println("Initializing TFT display");

tft.begin();

// Note: you can now set the SPI speed to any value

// the default value is 30Mhz, but most ILI9341 displays

// can handle at least 60Mhz and as much as 100Mhz

// tft.setClock(60000000);

tft.fillScreen(ILI9341_BLACK);

tft.setTextColor(ILI9341_YELLOW);

tft.setTextSize(2);

tft.setRotation(1);

#pragma endregion region DISPLAY INITIALIZATION

#pragma region TFT DIAGNOSTICS

#ifndef N0_DIAGNOSTICS

// read diagnostics (optional but can help debug problems)

uint8_t x = tft.readcommand8(ILI9341_RDMODE);

Serial.print("Display Power Mode: 0x"); Serial.println(x, HEX);

x = tft.readcommand8(ILI9341_RDMADCTL);

Serial.print("MADCTL Mode: 0x"); Serial.println(x, HEX);

x = tft.readcommand8(ILI9341_RDPIXFMT);

Serial.print("Pixel Format: 0x"); Serial.println(x, HEX);

x = tft.readcommand8(ILI9341_RDIMGFMT);

Serial.print("Image Format: 0x"); Serial.println(x, HEX);

x = tft.readcommand8(ILI9341_RDSELFDIAG);

Serial.print("Self Diagnostic: 0x"); Serial.println(x, HEX);

Serial.println(F("Benchmark Time (microseconds)"));

Serial.print(F("Screen fill "));

Serial.println(testFillScreen());

delay(200);

Serial.print(F("Text "));

Serial.println(testText());

delay(600);

Serial.print(F("Proportional Text "));

Serial.println(testProportionalText());

delay(600);

Serial.print(F("Lines "));

Serial.println(testLines(ILI9341_CYAN));

delay(200);

Serial.print(F("Horiz/Vert Lines "));

Serial.println(testFastLines(ILI9341_RED, ILI9341_BLUE));

delay(200);

Serial.print(F("Rectangles (outline) "));

Serial.println(testRects(ILI9341_GREEN));

delay(200);

Serial.print(F("Rectangles (filled) "));

Serial.println(testFilledRects(ILI9341_YELLOW, ILI9341_MAGENTA));

delay(200);

Serial.print(F("Circles (filled) "));

Serial.println(testFilledCircles(10, ILI9341_MAGENTA));

Serial.print(F("Circles (outline) "));

Serial.println(testCircles(10, ILI9341_WHITE));

delay(200);

Serial.print(F("Triangles (outline) "));

Serial.println(testTriangles());

delay(200);

Serial.print(F("Triangles (filled) "));

Serial.println(testFilledTriangles());

delay(200);

Serial.print(F("Rounded rects (outline) "));

Serial.println(testRoundRects());

delay(200);

Serial.print(F("Rounded rects (filled) "));

Serial.println(testFilledRoundRects());

delay(200);

Serial.println(F("Done!"));

#endif // !N0_DIAGNOSTICS

#pragma endregion region TFT DIAGNOSTICS

#pragma region RTC_SETUP

DateBox.Draw(&tft); //erase previous text

tft.setCursor(0, 0);

Serial.println("Initializing RTC...");

tft.println("Initializing RTC...");

delay(1000);

if (!rtc.begin())

{

DateBox.Draw(&tft); //erase previous text

tft.setCursor(0, 0);

Serial.println("Couldn't find RTC");

tft.println("Couldn't find RTC");

while (1);

}

bool lp = rtc.lostPower();

Serial.print("lostPower() reports "); Serial.println(lp);

DateBox.Draw(&tft); //erase previous text

tft.setCursor(0, 0);

tft.printf("lostPower() = %d\n", lp);

delay(1000);

if (rtc.lostPower())

{

Serial.println("RTC lost power. Setting RTC to last compile time");

DateBox.Draw(&tft); //erase previous text

tft.setCursor(0, 0);

tft.println("RTC lost power. Setting RTC to last compile time");

// following line sets the RTC to the date & time this sketch was compiled

rtc.adjust(DateTime(F(__DATE__), F(__TIME__)));

}

#ifdef FORCE_RTC_TO_LAST_COMPILE_TIME

Serial.println("Forcing RTC to last compile time");

// following line sets the RTC to the date & time this sketch was compiled

rtc.adjust(DateTime(F(__DATE__), F(__TIME__)));

#endif //

//DateTime now = rtc.now();

now = rtc.now();

//char buffer[100];

memset(buffer, '\0', 100);

GetDayDateTimeStringFromDateTime(now, buffer);

Serial.println("Retrieving Date/Time from RTC....");

Serial.print("Date String = "); Serial.println(buffer);

#pragma endregion RTC_SETUP

//DEBUG!!

//tft.println("Setting time to just before midnight");

//rtc.adjust(DateTime(2021, 02, 13, 00, 59, 45));

//DEBUG!!

//02/15/21 needed detect hour changes for screen refresh

now = rtc.now();

lasthour = now.hour();

mSecSinceLastClockUpdate = 0; //used to space out clock updates in loop()

}

void loop(void)

{

//Serial.printf("%lu: mSecSinceLastClockUpdate = %lu\n", millis(), (long int)mSecSinceLastClockUpdate);

delay(100);

//see if there is a touch anywhere

if (ts.touched())

{

mSecSinceLastTouch = 0; //reset the timeout watchdog

while (mSecSinceLastTouch < TOUCH_TIMEOUT_MSEC)

{

//Serial.printf("mSecSinceLastTouch = %lu\n", (unsigned long int)mSecSinceLastTouch);

TS_Point Tp = ts.getPoint();// Retrieve the touch point

if (Tp.z > 1000)

{

mSecSinceLastTouch = 0; //reset the timeout watchdog

TS_Point Dp = GetTouchPointInDisplayCoords(Tp);

CurAdjState = (AdjustmentState)AdjustTimeAndDate(Dp);

//Serial.printf("Tp.z = %d: AdjustTimeAndDate(%d, %d) returns %d\n", Tp.z, Dp.x, Dp.y, (int)CurAdjState);

if (CurAdjState > ADJ_NONE)

{

ShowLongTimeDisplay();

ShowAdjButtons();

}

HideButtons();

HideHighlightBars();

ShowNormalTimeDisplay();

ShowDateDisplay();

CurAdjState = ADJ_NONE;

mSecSinceLastClockUpdate = 0;

}

if (mSecSinceLastClockUpdate > CLOCK_UPDATE_MSEC)

{

mSecSinceLastClockUpdate -= CLOCK_UPDATE_MSEC;

now = rtc.now();

ShowDateDisplay(); //Display day and date

//Display time

if (CurAdjState > ADJ_NONE)

{

ShowLongTimeDisplay();

}

else

{

ShowNormalTimeDisplay();

}

#pragma region DATE_TIME_FUNCTIONS

void GetDayDateTimeStringFromDateTime(DateTime dt, char* bufptr)

{

int mydayofweek = dt.dayOfTheWeek();

//mydayofweek = (mydayofweek < 0) ? 0 : mydayofweek; //guard for return of 0 from weekday()

int myday = dt.day();

int mymonth = dt.month();

int myyear = dt.year();

int myhour = dt.hour();

int mymin = dt.minute();

int mysec = dt.second();

char* dayofweek = (char*)daysOfTheWeek[mydayofweek];

sprintf(bufptr, "%s %4d/%02d/%02d at %02d:%02d:%02d", dayofweek, mymonth, myday, myyear, myhour, mymin, mysec);

}

void HourStringFromDateTime(DateTime dt, char* bufptr)

{

int hourval = dt.hour();

if (hourval > 12)

{

hourval -= 12;

}

//sprintf(bufptr, "%02d", hourval);

sprintf(bufptr, "%d", hourval);

}

void MinuteStringFromDateTime(DateTime dt, char* bufptr)

{

sprintf(bufptr, "%02d", dt.minute());

}

#pragma endregion DATE_TIME_FUNCTIONS

AdjustmentState AdjustTimeAndDate(TS_Point Dp)

{

AdjustmentState adjstate = ADJ_NONE;

DateTime newtime;

DateTime now = rtc.now();

//int new_hour, new_minute, new_month, new_day, new_year;

int new_hour, new_minute, new_month, new_day;

//Serial.printf("In GetCurAdjState with CurAdjState = %d, at point (%d,%d)\n", CurAdjState, Dp.x, Dp.y);

switch (CurAdjState)

{

case ADJ_NONE:

if (TimeBox.TouchHit(Dp.x, Dp.y))

{

adjstate = ADJ_HOUR; //always start with hour

ShowHighlightBar(ADJ_HOUR);

}

else if (DateBox.TouchHit(Dp.x, Dp.y))

{

adjstate = ADJ_MONTH; //always start with month

ShowHighlightBar(ADJ_MONTH);

}

break;

case ADJ_HOUR:

Serial.print("In GetCurAdjState ADJ_HOUR case\n");

adjstate = ADJ_HOUR;

if (PlusBox.TouchHit(Dp.x, Dp.y))

{

Serial.printf("Plus box touch at (%d,%d)\n", Dp.x, Dp.y);

Serial.printf("Old time is %d/%d/%d %d:%d\n", now.month(), now.day(), now.year(), now.hour(), now.minute());

new_hour = now.hour() + 1;

if (new_hour >= 24)

{

new_hour -= 24;

}

newtime = DateTime(now.year(), now.month(), now.day(), new_hour, now.minute(), now.second());

Serial.printf("New time is %d/%d/%d %d:%d\n", newtime.month(), newtime.day(), newtime.year(), newtime.hour(), newtime.minute());

rtc.adjust(newtime);

now = rtc.now();

Serial.printf("RTC now set to %d/%d/%d %d:%d\n", now.day(), now.month(), now.year(), now.hour(), now.minute());

ShowLongTimeDisplay();

delay(500); //delay for a while to avoid multiple 'add' operations

}

else if (MinusBox.TouchHit(Dp.x, Dp.y))

{

Serial.printf("Minus box touch at (%d,%d)\n", Dp.x, Dp.y);

Serial.printf("Old time is %d/%d/%d %d:%d\n", now.month(), now.day(), now.year(), now.hour(), now.minute());

new_hour = now.hour() - 1;

if (new_hour < 0)

{

new_hour += 24;

}

newtime = DateTime(now.year(), now.month(), now.day(), new_hour, now.minute(), now.second());

Serial.printf("New time is %d/%d/%d %d:%d\n", newtime.month(), newtime.day(), newtime.year(), newtime.hour(), newtime.minute());

rtc.adjust(newtime);

now = rtc.now();

Serial.printf("RTC now set to %d/%d/%d %d:%d\n", now.day(), now.month(), now.year(), now.hour(), now.minute());

ShowLongTimeDisplay();

delay(500); //delay for a while to avoid multiple 'add' operations

}

else if (NextBox.TouchHit(Dp.x, Dp.y))

{

//Serial.printf("Next box touch at (%d,%d)\n", Dp.x, Dp.y);

adjstate = ADJ_MIN;

ShowHighlightBar(ADJ_MIN);

delay(500); //prevent multiple NEXT transitions

}

break;

case ADJ_MIN:

Serial.print("In GetCurAdjState ADJ_MIN case\n");

adjstate = ADJ_MIN;

if (PlusBox.TouchHit(Dp.x, Dp.y))

{

Serial.printf("Plus box touch at (%d,%d)\n", Dp.x, Dp.y);

Serial.printf("Old time is %d/%d/%d %d:%d\n", now.month(), now.day(), now.year(), now.hour(), now.minute());

new_minute = now.minute() + 1;

if (new_minute >= 60)

{

new_minute = 0;

}

newtime = DateTime(now.year(), now.month(), now.day(), now.hour(), new_minute, now.second());

Serial.printf("New time is %d/%d/%d %d:%d\n", newtime.month(), newtime.day(), newtime.year(), newtime.hour(), newtime.minute());

rtc.adjust(newtime);

now = rtc.now();

Serial.printf("RTC now set to %d/%d/%d %d:%d\n", now.day(), now.month(), now.year(), now.hour(), now.minute());

ShowLongTimeDisplay();

delay(500); //delay for a while to avoid multiple 'add' operations

}

else if (MinusBox.TouchHit(Dp.x, Dp.y))

{

Serial.printf("Minus box touch at (%d,%d)\n", Dp.x, Dp.y);

newtime = DateTime(now.year(), now.month(), now.day(), now.hour(), now.minute() - 1);

Serial.printf("ADJ_HOUR case in DoMinusOp(). Decrementing Hour Value\n");

Serial.printf("Old time is %d:%d:%d:%d\n", now.day(), now.month(), now.year(), now.hour());

Serial.printf("New time is %d:%d:%d:%d\n", newtime.day(), newtime.month(), newtime.year(), newtime.hour());

rtc.adjust(newtime);

Serial.printf("RTC now set to %d:%d:%d:%d\n", now.day(), now.month(), now.year(), now.hour());

ShowLongTimeDisplay();

delay(500); //delay for a while to avoid multiple 'add' operations

}

else if (NextBox.TouchHit(Dp.x, Dp.y))

{

//Serial.printf("Next box touch at (%d,%d)\n", Dp.x, Dp.y);

adjstate = ADJ_SEC;

ShowHighlightBar(ADJ_SEC);

delay(500); //prevent multiple NEXT transitions

}

break;

case ADJ_SEC:

Serial.print("In GetCurAdjState ADJ_SEC case\n");

adjstate = ADJ_SEC;

if (PlusBox.TouchHit(Dp.x, Dp.y))

{

Serial.printf("Plus box touch at (%d,%d)\n", Dp.x, Dp.y);

Serial.printf("Old time is %d/%d/%d %d:%d:%d\n", now.month(), now.day(), now.year(), now.hour(), now.minute(), now.second());

newtime = DateTime(now.year(), now.month(), now.day(), now.hour(), now.minute(), 0);

Serial.printf("New time is %d/%d/%d %d:%d:%d\n", newtime.month(), newtime.day(), newtime.year(), newtime.hour(), newtime.minute(), newtime.second());

rtc.adjust(newtime);

now = rtc.now();

Serial.printf("RTC now set to %d/%d/%d %d:%d:%d\n", now.day(), now.month(), now.year(), now.hour(), now.minute(), now.second());

ShowLongTimeDisplay();

delay(500); //delay for a while to avoid multiple 'add' operations

}

else if (MinusBox.TouchHit(Dp.x, Dp.y))

{

Serial.printf("Minus box touch at (%d,%d)\n", Dp.x, Dp.y);

Serial.printf("Old time is %d/%d/%d %d:%d:%d\n", now.month(), now.day(), now.year(), now.hour(), now.minute(), now.second());

newtime = DateTime(now.year(), now.month(), now.day(), now.hour(), now.minute(), 0);

Serial.printf("New time is %d/%d/%d %d:%d:%d\n", newtime.month(), newtime.day(), newtime.year(), newtime.hour(), newtime.minute(), newtime.second());

rtc.adjust(newtime);

now = rtc.now();

Serial.printf("RTC now set to %d/%d/%d %d:%d:%d\n", now.day(), now.month(), now.year(), now.hour(), now.minute(), now.second());

ShowLongTimeDisplay();

delay(500); //delay for a while to avoid multiple 'add' operations

}

else if (NextBox.TouchHit(Dp.x, Dp.y))

{

//Serial.printf("Next box touch at (%d,%d)\n", Dp.x, Dp.y);

adjstate = ADJ_HOUR;

ShowHighlightBar(ADJ_HOUR);

delay(500); //prevent multiple NEXT transitions

}

break;

case ADJ_DAYOFWEEK:

break;

case ADJ_MONTH:

Serial.print("In GetCurAdjState ADJ_MONTH case\n");

adjstate = ADJ_MONTH;

if (PlusBox.TouchHit(Dp.x, Dp.y))

{

Serial.printf("Plus box touch at (%d,%d)\n", Dp.x, Dp.y);

Serial.printf("Old time is %d/%d/%d %d:%d\n", now.month(), now.day(), now.year(), now.hour(), now.minute());

new_month = now.month() + 1;

if (new_month > 12)

{

new_month -= 12;

}

newtime = DateTime(now.year(), new_month, now.day(), now.hour(), now.minute(), now.second());

Serial.printf("New time is %d/%d/%d %d:%d\n", newtime.month(), newtime.day(), newtime.year(), newtime.hour(), newtime.minute());

rtc.adjust(newtime);

now = rtc.now();

Serial.printf("RTC now set to %d/%d/%d %d:%d\n", now.month(), now.day(), now.year(), now.hour(), now.minute());

ShowDateDisplay();

delay(500); //delay for a while to avoid multiple 'add' operations

}

else if (MinusBox.TouchHit(Dp.x, Dp.y))

{

Serial.printf("Minus box touch at (%d,%d)\n", Dp.x, Dp.y);

Serial.printf("Old time is %d/%d/%d %d:%d\n", now.month(), now.day(), now.year(), now.hour(), now.minute());

new_month = now.month() - 1;

new_month = (new_month <= 0) ? 12 : new_month;

newtime = DateTime(now.year(), new_month, now.day(), now.hour(), now.minute(), now.second());

Serial.printf("New time is %d/%d/%d %d:%d\n", newtime.month(), newtime.day(), newtime.year(), newtime.hour(), newtime.minute());

rtc.adjust(newtime);

now = rtc.now();

Serial.printf("RTC now set to %d/%d/%d %d:%d\n", now.day(), now.month(), now.year(), now.hour(), now.minute());

ShowDateDisplay();

delay(500); //delay for a while to avoid multiple 'add' operations

}

else if (NextBox.TouchHit(Dp.x, Dp.y))

{

//Serial.printf("Next box touch at (%d,%d)\n", Dp.x, Dp.y);

adjstate = ADJ_DAY;

ShowHighlightBar(ADJ_DAY);

delay(500); //prevent multiple NEXT transitions

}

break;

case ADJ_DAY:

Serial.print("In GetCurAdjState ADJ_DAY case\n");

adjstate = ADJ_DAY;

if (PlusBox.TouchHit(Dp.x, Dp.y))

{

Serial.printf("Plus box touch at (%d,%d)\n", Dp.x, Dp.y);

Serial.printf("Old time is %d/%d/%d %d:%d\n", now.month(), now.day(), now.year(), now.hour(), now.minute());

new_day = AdjustDayValue(now.month(), now.day() + 1); //not all months have same number of days

newtime = DateTime(now.year(), now.month(), new_day, now.hour(), now.minute(), now.second());

Serial.printf("New time is %d/%d/%d %d:%d\n", newtime.month(), newtime.day(), newtime.year(), newtime.hour(), newtime.minute());

rtc.adjust(newtime);

now = rtc.now();

Serial.printf("RTC now set to %d/%d/%d %d:%d\n", now.day(), now.month(), now.year(), now.hour(), now.minute());

ShowDateDisplay();

delay(500); //delay for a while to avoid multiple 'add' operations

}

else if (MinusBox.TouchHit(Dp.x, Dp.y))

{

Serial.printf("Minus box touch at (%d,%d)\n", Dp.x, Dp.y);

Serial.printf("Old time is %d/%d/%d %d:%d\n", now.month(), now.day(), now.year(), now.hour(), now.minute());

new_day = now.day() - 1;

new_day = (new_day <= 0) ? aDaysInMonth[now.month() - 1] : new_day;

newtime = DateTime(now.year(), now.month(), new_day, now.hour(), now.minute(), now.second());

Serial.printf("New time is %d/%d/%d %d:%d\n", newtime.month(), newtime.day(), newtime.year(), newtime.hour(), newtime.minute());

rtc.adjust(newtime);

now = rtc.now();

Serial.printf("RTC now set to %d/%d/%d %d:%d\n", now.day(), now.month(), now.year(), now.hour(), now.minute());

ShowDateDisplay();

delay(500); //delay for a while to avoid multiple 'add' operations

}

else if (NextBox.TouchHit(Dp.x, Dp.y))

{

//Serial.printf("Next box touch at (%d,%d)\n", Dp.x, Dp.y);

adjstate = ADJ_YEAR;

ShowHighlightBar(ADJ_YEAR);

delay(500); //prevent multiple NEXT transitions

}

break;

case ADJ_YEAR:

Serial.print("In GetCurAdjState ADJ_YEAR case\n");

adjstate = ADJ_YEAR;

if (PlusBox.TouchHit(Dp.x, Dp.y))

{

Serial.printf("Plus box touch at (%d,%d)\n", Dp.x, Dp.y);

Serial.printf("Old time is %d/%d/%d %d:%d\n", now.month(), now.day(), now.year(), now.hour(), now.minute());

newtime = DateTime(now.year() + 1, now.month(), now.day(), now.hour(), now.minute(), now.second());

Serial.printf("New time is %d/%d/%d %d:%d\n", newtime.month(), newtime.day(), newtime.year(), newtime.hour(), newtime.minute());

rtc.adjust(newtime);

now = rtc.now();

Serial.printf("RTC now set to %d/%d/%d %d:%d\n", now.month(), now.day(), now.year(), now.hour(), now.minute());

ShowDateDisplay();

delay(500); //delay for a while to avoid multiple 'add' operations

}

else if (MinusBox.TouchHit(Dp.x, Dp.y))

{

Serial.printf("Minus box touch at (%d,%d)\n", Dp.x, Dp.y);

Serial.printf("Old time is %d/%d/%d %d:%d\n", now.month(), now.day(), now.year(), now.hour(), now.minute());

newtime = DateTime(now.year() - 1, now.month(), now.day(), now.hour(), now.minute(), now.second());

Serial.printf("New time is %d/%d/%d %d:%d\n", newtime.month(), newtime.day(), newtime.year(), newtime.hour(), newtime.minute());

rtc.adjust(newtime);

now = rtc.now();

Serial.printf("RTC now set to %d/%d/%d %d:%d\n", now.day(), now.month(), now.year(), now.hour(), now.minute());

ShowDateDisplay();

delay(500); //delay for a while to avoid multiple 'add' operations

}

else if (NextBox.TouchHit(Dp.x, Dp.y))

{

//Serial.printf("Next box touch at (%d,%d)\n", Dp.x, Dp.y);

adjstate = ADJ_MONTH;

ShowHighlightBar(ADJ_MONTH);

delay(500); //prevent multiple NEXT transitions

}

break;

default:

break;

}

//Serial.printf("AdjustTimeAndDate(%d, %d) returns %d\n", Dp.x, Dp.y, (int)adjstate);

return adjstate ;

}

#pragma region Helper Functions

TS_Point GetTouchPointInDisplayCoords(TS_Point Tp)

{

//Purpose: Retrieve a touch point in display coordinate system

//Inputs:

// Rotation value

// Mapping values

// TS_Point from touch chip

//Outputs:

// TS_Point object containing touch (X,Y) in display coordinates

//Plan:

// Step1: Retrieve touch point from touch chip

// Step2: Map to display coordinates taking rotation into account

//Step1: Retrieve touch point from touch chip

//TS_Point Tp = ts.getPoint();

TS_Point Dp;

//Step2: Map to display coordinates taking rotation into account

#ifdef SCREEN_ORIENTATION_1

Dp.x = map(Tp.x, TS_MAXX, TS_MINX, 0, tft.width());

Dp.y = map(Tp.y, TS_MAXY, TS_MINY, 0, tft.height());

#else

#endif

////DEBUG!!

//Serial.printf(" GetTouchPointInDisplayCoords: %lu\t%d\t%d\t%d\t%d\t%d\n",

// millis(), Tp.x, Tp.y, Tp.z, Dp.x, Dp.y);

////DEBUG!!

return Dp;

}

void ShowAdjButtons()

{

PlusBox.Draw(&tft, '+', ILI9341_BLACK);

MinusBox.Draw(&tft, '-', ILI9341_BLACK);

//03/04/21 getTextBounds() reports wrong info - use 70w x 20 tall

int txt_x = NEXTBOX_X + round((float)(NEXTBOX_WIDTH / 2.)) - round((float)(70 / 2.));

int txt_y = NEXTBOX_Y + round((float)(NEXTBOX_HEIGHT / 2.)) - round((float)(20 / 2.));

tft.setCursor(txt_x, txt_y);

tft.setTextSize(3);

tft.setTextColor(ILI9341_BLACK);

String boxstr = "NEXT";

NextBox.Draw(&tft);

tft.print(boxstr);

}

void HideButtons()

{

PlusBox.Draw(&tft, ILI9341_BLACK);

MinusBox.Draw(&tft, ILI9341_BLACK);

NextBox.Draw(&tft, ILI9341_BLACK);

}

void ShowNormalTimeDisplay()

{

//Serial.printf("In ShowNormalTimeDisplay\n");

now = rtc.now();

tft.setCursor(0, 100);

tft.setTextColor(ILI9341_RED);

tft.setTextSize(10);

TimeBox.Draw(&tft);

tft.setCursor(0, 100);

int hournum = now.hour();

//guard against 1259->1300 && 2359->0000 transitions

if (hournum > 12)

{

hournum -= 12;

}

else if (hournum == 0)

{

hournum += 12;

}

hournum = (hournum > 12) ? hournum - 12 : hournum;

tft.printf("%2d:%02d", hournum, now.minute());

}

void ShowLongTimeDisplay()

{

//Serial.printf("In ShowLongTimeDisplay\n");

now = rtc.now();

tft.setCursor(0, 100);

tft.setTextColor(ILI9341_RED);

//tft.setTextSize(10);

tft.setTextSize(6);

tft.fillRect(0, 98, 350, 74, ILI9341_BLACK);

//tft.fillRect(0, 98, 350, 74, ILI9341_YELLOW);

tft.setCursor(0, 100);

int hournum = now.hour();

//guard against 1259->1300 && 2359->0000 transitions

if (hournum > 12)

{

hournum -= 12;

}

else if (hournum == 0)

{

hournum += 12;

}

hournum = (hournum > 12) ? hournum - 12 : hournum;

tft.printf("%2d:%02d:%02d", hournum, now.minute(), now.second());

}

void ShowHighlightBar(AdjustmentState adjstate)

{

switch (adjstate)

{

case ADJ_NONE:

Serial.printf("ADJ_NONE case in ShowHighlightBox()\n");

HideHighlightBars();

break;

case ADJ_HOUR:

HideHighlightBars();

HourHighlightBox.Draw(&tft);

break;

case ADJ_MIN:

HideHighlightBars();

MinuteHighlightBox.Draw(&tft);

break;

case ADJ_SEC:

HideHighlightBars();

SecondHighlightBox.Draw(&tft);

break;

case ADJ_DAYOFWEEK:

break;

case ADJ_MONTH:

HideHighlightBars();

MonthHighlightBox.Draw(&tft);

break;

case ADJ_DAY:

HideHighlightBars();

DayHighlightBox.Draw(&tft);

break;

case ADJ_YEAR:

HideHighlightBars();

YearHighlightBox.Draw(&tft);

break;

default:

break;

}

void HideHighlightBars()

{

tft.fillRect(0, DATE_HIGHLIGHT_BOX_YLOC, ALL_DATE_HIGHLIGHT_BOX_WIDTH, DATE_HIGHLIGHT_BOX_HEIGHT, ILI9341_BLACK);

tft.fillRect(0, TIME_HIGHLIGHT_BOX_YLOC, ALL_TIME_HIGHLIGHT_BOX_WIDTH, TIME_HIGHLIGHT_BOX_HEIGHT, ILI9341_BLACK);

}

void ShowDateDisplay()

{

DateTime now = rtc.now();

DateBox.Draw(&tft);

tft.setTextColor(ILI9341_YELLOW);

tft.setCursor(0, 0);

tft.setTextSize(3);

tft.printf("%s %02d/%02d/%02d\n",

daysOfTheWeek[now.dayOfTheWeek()], now.month(), now.day(), now.year());

}

int AdjustDayValue(int month, int day)

{

if (day > aDaysInMonth[month-1])

{

Serial.printf("%d is greater than max days (%d) for this month - setting to 1\n", day, aDaysInMonth[month-1] );

return 1;

}

else

{

return day;

}

#pragma endregion Helper Functions

#pragma once

#ifndef _ILI9341_t3NH_	
#include <ILI9341_t3n.h>
#endif // !_ILI9341_t3NH_

class CustomBox
{
public:
	int x;
	int y;
private:
	int w;
	int h;
	int color;
public:
	CustomBox(int in_x, int in_y, int in_w, int in_h, int in_color);
	CustomBox(int in_w, int in_h, int in_color);
	void Draw(ILI9341_t3n* disp);
	void Draw(ILI9341_t3n* disp, char c, int txtcolor, int size);
	void Draw(ILI9341_t3n* disp, String txt, int size);
	void Draw(ILI9341_t3n* disp, char* buff, int size);
	void Draw(ILI9341_t3n* disp, int color);
	bool TouchHit(int in_x, int in_y);
};


CustomBox::CustomBox(int in_w, int in_h, int in_color)
{
	x = 0;
	y = 0;
	w = in_w;
	h = in_h;
	color = in_color;
}

CustomBox::CustomBox(int in_x, int in_y, int in_w, int in_h, int in_color)
{
	x = in_x;
	y = in_y;
	w = in_w;
	h = in_h;
	color = in_color;
}

inline void CustomBox::Draw(ILI9341_t3n* disp)
{
	disp->fillRect(x, y, w, h, color);
}

//class CustomBoxWithText :CustomBox
//{
//private:
//	char boxtext[6];
//public:
//	CustomBoxWithText(int in_x, int in_y, int in_w, int in_h, int in_color, char* txt);
//};
//
//
//CustomBox::CustomBox(int in_x, int in_y, int in_w, int in_h, int in_color)
//{
//	x = in_x;
//	y = in_y;
//	w = in_w;
//	h = in_h;
//	color = in_color;
//}

inline void CustomBox::Draw(ILI9341_t3n* disp, char c, int txtcolor, int size = 0)
{
	disp->fillRect(x, y, w, h, color);
	if (size==0)
	{
		size = round((float)h / 10.);
	}
	int char_x = x + round((float)w / 4.);
	//int char_x = x;
	disp->setCursor(char_x, y+size);
	disp->setTextSize(size);
	disp->setTextColor(txtcolor);
	disp->print(c);
}

inline void CustomBox::Draw(ILI9341_t3n* disp, String txt, int size)
{
	disp->fillRect(x, y, w, h, color);
	disp->setCursor(x, y);
	disp->setTextSize(size);
	disp->print(txt);
}

inline void CustomBox::Draw(ILI9341_t3n* disp, char* buff, int size)
{
	Serial.printf("In Draw() with buff = %s\n", buff);
	disp->fillRect(x, y, w, h, color);
	//disp->setCursor(x, y);
	disp->setTextSize(size);
	//disp->setTextDatum(MC_DATUM);
	disp->drawString1(buff, strlen(buff), x, y);
}

inline void CustomBox::Draw(ILI9341_t3n* disp, int newcolor)
{
	disp->fillRect(x, y, w, h, newcolor);
}

inline bool CustomBox::TouchHit(int in_x, int in_y)
{
	//Purpose:  Determine if input coordinates are within a specified box
	//Inputs:
	//  in_x, in_y = integers denoting mapped touch coordinates
	//  box location & dimensions
	//Outputs:
	//  true if (in_x, in_y) falls within box region.  Othewise, false

	//Serial.printf("TouchHit(%d,%d), box (x,y,w,h) = (%d,%d,%d,%d)\n",
	//	in_x, in_y, x, y, w, h);

	return (in_x > x && in_y > y && in_x < x + w && in_y < y + h);
}

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#pragma once

#ifndef _ILI9341_t3NH_

#include <ILI9341_t3n.h>

#endif // !_ILI9341_t3NH_

class CustomBox

{

public:

int x;

int y;

private:

int w;

int h;

int color;

public:

CustomBox(int in_x, int in_y, int in_w, int in_h, int in_color);

CustomBox(int in_w, int in_h, int in_color);

void Draw(ILI9341_t3n* disp);

void Draw(ILI9341_t3n* disp, char c, int txtcolor, int size);

void Draw(ILI9341_t3n* disp, String txt, int size);

void Draw(ILI9341_t3n* disp, char* buff, int size);

void Draw(ILI9341_t3n* disp, int color);

bool TouchHit(int in_x, int in_y);

};

CustomBox::CustomBox(int in_w, int in_h, int in_color)

{

x = 0;

y = 0;

w = in_w;

h = in_h;

color = in_color;

}

CustomBox::CustomBox(int in_x, int in_y, int in_w, int in_h, int in_color)

{

x = in_x;

y = in_y;

w = in_w;

h = in_h;

color = in_color;

}

inline void CustomBox::Draw(ILI9341_t3n* disp)

{

disp->fillRect(x, y, w, h, color);

}

//class CustomBoxWithText :CustomBox

//{

//private:

// char boxtext[6];

//public:

// CustomBoxWithText(int in_x, int in_y, int in_w, int in_h, int in_color, char* txt);

//};

//CustomBox::CustomBox(int in_x, int in_y, int in_w, int in_h, int in_color)

//{

// x = in_x;

// y = in_y;

// w = in_w;

// h = in_h;

// color = in_color;

//}

inline void CustomBox::Draw(ILI9341_t3n* disp, char c, int txtcolor, int size = 0)

{

disp->fillRect(x, y, w, h, color);

if (size==0)

{

size = round((float)h / 10.);

}

int char_x = x + round((float)w / 4.);

//int char_x = x;

disp->setCursor(char_x, y+size);

disp->setTextSize(size);

disp->setTextColor(txtcolor);

disp->print(c);

}

inline void CustomBox::Draw(ILI9341_t3n* disp, String txt, int size)

{

disp->fillRect(x, y, w, h, color);

disp->setCursor(x, y);

disp->setTextSize(size);

disp->print(txt);

}

inline void CustomBox::Draw(ILI9341_t3n* disp, char* buff, int size)

{

Serial.printf("In Draw() with buff = %s\n", buff);

disp->fillRect(x, y, w, h, color);

//disp->setCursor(x, y);

disp->setTextSize(size);

//disp->setTextDatum(MC_DATUM);

disp->drawString1(buff, strlen(buff), x, y);

}

inline void CustomBox::Draw(ILI9341_t3n* disp, int newcolor)

{

disp->fillRect(x, y, w, h, newcolor);

}

inline bool CustomBox::TouchHit(int in_x, int in_y)

{

//Purpose: Determine if input coordinates are within a specified box

//Inputs:

// in_x, in_y = integers denoting mapped touch coordinates

// box location & dimensions

//Outputs:

// true if (in_x, in_y) falls within box region. Othewise, false

//Serial.printf("TouchHit(%d,%d), box (x,y,w,h) = (%d,%d,%d,%d)\n",

// in_x, in_y, x, y, w, h);

return (in_x > x && in_y > y && in_x < x + w && in_y < y + h);

}

10 March 2021 Update:

After getting all of the above to work, I decided to re-tackle the proportional fonts issue. In my first attempt, I had used the ‘ILI9341_t3’ version of the ILI9341 Teensy library, and there is a newer ‘ILI9341_t3n‘ version out now. So, I modified one of the example programs (unfortunately still written for the old library) to be compatible and got proportional fonts (well, just the Arial one) working on the display.

After several hours of running this example with no apparent artifacts or problems, I decided to update my complete clock program to use the Arial font. After making the modifications and running it overnight, the time & date displays were still rock-solid the next day, as shown in the following photo – YAY!!

So now all that is left to do is to upload the new Arial-based code (with the time background color switched back to ‘black’) to my ‘working’ clock module, sit back and enjoy the proportional font display.

14 July 2021 Update:

I noticed that my clock had some ‘issues’ with time/date adjustments, so I ‘put it back in the shop’ for some additional TLC. While I was at it, I noticed that the system schematic didn’t include the DS3231 (hard to have a clock without a RTC!), so I updated it as well. Here’s the updated schematic.

The updates made were to make the time/date adjustments more robust. The updated code is included in its entirety below. First the main program:

/*
    Name:       Teensy_LCDClockV4.ino
    Created:	3/9/2021 11:12:31 AM
    Author:     FRANKNEWXPS15\Frank

    This project was cloned from Teensy_LCDClockV3 to re-investigate the use of proportional fonts
*/

#include <XPT2046_Touchscreen.h>
#include <ILI9341_t3n.h>
#include <Wire.h>
#include "RTClib.h"
#include "elapsedMillis.h"
#include "CustomBox.h"
#include "ili9341_t3n_font_Arial.h"

#define N0_DIAGNOSTICS
//****************************************************************************
// Settings and objects
//****************************************************************************

#pragma region DISPLAY_PIN_ASSIGNMENTS
//02/15/21 pin assignments from https://www.pjrc.com/store/display_ili9341_touch.html
#define TFT_DC  9
#define TFT_CS 10
#define TFT_RST 7
#define TFT_SCK 13
#define TFT_MISO 12
#define TFT_MOSI 11
#define TOUCH_CS  8
#pragma endregion DISPLAY_PIN_ASSIGNMENTS

XPT2046_Touchscreen ts(TOUCH_CS);
ILI9341_t3n tft = ILI9341_t3n(TFT_CS, TFT_DC, TFT_RST, TFT_MOSI, TFT_SCK, TFT_MISO);
elapsedMillis mSecSinceLastClockUpdate;
const int CLOCK_UPDATE_MSEC = 1000;

#pragma region DISP_AND_ADJ_BOX_PARAMETERS
// Size of the color selection boxes and the paintbrush size
#define MAX_DISPLAY_X 240
#define MAX_DISPLAY_Y 320
#define SCREEN_ORIENTATION_1

#define TS_MINX 600
#define TS_MINY 600
#define TS_MAXX 3758
#define TS_MAXY 3612

const int PLUSBOX_X = 20;
const int PLUSBOX_Y = 180;
const int PLUSBOX_WIDTH = 50;
const int PLUSBOX_HEIGHT = 50;
const int PLUSBOX_COLOR = ILI9341_BLUE;

const int MINUSBOX_X = 120;
const int MINUSBOX_Y = 180;
const int MINUSBOX_WIDTH = 50;
const int MINUSBOX_HEIGHT = 50;
const int MINUSBOX_COLOR = ILI9341_YELLOW;

const String nextstr = "NEXT";
const int nextstr_width = 70;
const int nextstr_height = 20;
const int NEXTBOX_X = 220;
const int NEXTBOX_Y = 180;
const int NEXTBOX_COLOR = ILI9341_GREEN;
const int NEXTBOX_WIDTH = 100;
const int NEXTBOX_HEIGHT = 50;

const int TIME_BOX_X = 0;
const int TIME_BOX_Y = 82;
const int TIME_BOX_WIDTH = 350;
const int TIME_BOX_HEIGHT = 80;

const int DATE_BOX_X = 0;
const int DATE_BOX_Y = 0;
const int DATE_BOX_WIDTH = 320;
const int DATE_BOX_HEIGHT = 30;

//03/05/21 used to hide adjustment boxes
const int ALL_ADJ_BOXES_WIDTH = NEXTBOX_X + NEXTBOX_WIDTH;
const int ALL_ADJ_BOXES_HEIGHT = 50;

const int TIME_HIGHLIGHT_BOX_WIDTH = 75;
const int TIME_HIGHLIGHT_BOX_HEIGHT = 5;
const int TIME_HIGHLIGHT_BOX_YLOC = 75;
const int ALL_TIME_HIGHLIGHT_BOX_WIDTH = ALL_ADJ_BOXES_WIDTH;

const int DATE_HIGHLIGHT_BOX_WIDTH = 40;
const int DATE_HIGHLIGHT_BOX_HEIGHT = 5;
const int DATE_HIGHLIGHT_BOX_YLOC = 40;
const int ALL_DATE_HIGHLIGHT_BOX_WIDTH = ALL_ADJ_BOXES_WIDTH;

CustomBox PlusBox(PLUSBOX_X, PLUSBOX_Y, PLUSBOX_WIDTH, PLUSBOX_HEIGHT, PLUSBOX_COLOR);
CustomBox MinusBox(MINUSBOX_X, MINUSBOX_Y, MINUSBOX_WIDTH, MINUSBOX_HEIGHT, MINUSBOX_COLOR);
CustomBox NextBox(NEXTBOX_X, NEXTBOX_Y, NEXTBOX_WIDTH, NEXTBOX_HEIGHT, NEXTBOX_COLOR);

CustomBox HourHighlightBox(20, TIME_HIGHLIGHT_BOX_YLOC, TIME_HIGHLIGHT_BOX_WIDTH, TIME_HIGHLIGHT_BOX_HEIGHT, ILI9341_WHITE);
CustomBox MinuteHighlightBox(120, TIME_HIGHLIGHT_BOX_YLOC, TIME_HIGHLIGHT_BOX_WIDTH, TIME_HIGHLIGHT_BOX_HEIGHT, ILI9341_WHITE);
CustomBox SecondHighlightBox(230, TIME_HIGHLIGHT_BOX_YLOC, TIME_HIGHLIGHT_BOX_WIDTH, TIME_HIGHLIGHT_BOX_HEIGHT, ILI9341_WHITE);

CustomBox MonthHighlightBox(72, DATE_HIGHLIGHT_BOX_YLOC, DATE_HIGHLIGHT_BOX_WIDTH, DATE_HIGHLIGHT_BOX_HEIGHT, ILI9341_WHITE);
CustomBox DayHighlightBox(132, DATE_HIGHLIGHT_BOX_YLOC, DATE_HIGHLIGHT_BOX_WIDTH, DATE_HIGHLIGHT_BOX_HEIGHT, ILI9341_WHITE);
CustomBox YearHighlightBox(178, DATE_HIGHLIGHT_BOX_YLOC, 90, DATE_HIGHLIGHT_BOX_HEIGHT, ILI9341_WHITE);

CustomBox TimeBox(TIME_BOX_X, TIME_BOX_Y, TIME_BOX_WIDTH, TIME_BOX_HEIGHT, ILI9341_BLACK);
CustomBox DateBox(DATE_BOX_X, DATE_BOX_Y, DATE_BOX_WIDTH, DATE_BOX_HEIGHT, ILI9341_BLACK);

enum AdjustmentState
{
  ADJ_NONE = 0,
  ADJ_HOUR,
  ADJ_MIN,
  ADJ_SEC,
  ADJ_DAYOFWEEK,
  ADJ_MONTH,
  ADJ_DAY,
  ADJ_YEAR
};

const char AdjValNameArray[8][9] = { "ADJ_NONE", "ADJ_HOUR", "ADJ_MIN", "ADJ_SEC", "ADJ_DOW", "ADJ_MNTH", "ADJ_DAY", "ADJ_YEAR" };

int aDaysInMonth[] = { 31,28,31,30,31,30,31,31,30,31,30,31 };

AdjustmentState CurAdjState = ADJ_NONE;


const int TOUCH_TIMEOUT_MSEC = 5000; //reverts to regular display if no further touch input
elapsedMillis mSecSinceLastTouch; //timer for touch timout
#pragma endregion Display & Adj Box Parameters


#pragma region RTC Support
#define FORCE_RTC_TO_LAST_COMPILE_TIME //uncomment to manually set RTC to last compile time

RTC_DS3231 rtc;

char daysOfTheWeek[7][12] = { "Sun", "Mon", "Tue", "Wed", "Thu", "Fri", "Sat" };
DateTime now, lastTime;
char buffer[100];
int lasthour = 0; //02/15/21 added to refresh screen on the hour

struct tStamp
{
  unsigned long mSec;
  byte RTC_Status;
};

#define DS3231_ADDRESS 0x68   ///< I2C address for DS3231
#define DS3231_STATUSREG 0x0F ///< Status register

#define RTCStatArraySize 10
#define RTCStatTime_IntervalMsec 100
tStamp RTCStatArray[RTCStatArraySize];


#pragma endregion RTC Support

void setup()
{
  Serial.begin(9600);
  delay(3000);

  Serial.println("Teensy 3.2 TFT Clock Program");

#pragma region DISPLAY INITIALIZATION
  Serial.println("Initializing TFT display");

  tft.begin();
  // Note: you can now set the SPI speed to any value
  // the default value is 30Mhz, but most ILI9341 displays
  // can handle at least 60Mhz and as much as 100Mhz
  //  tft.setClock(60000000);
  tft.fillScreen(ILI9341_BLACK);
  tft.setTextColor(ILI9341_YELLOW);
  tft.setTextSize(2);
  tft.setRotation(1);
#pragma endregion region DISPLAY INITIALIZATION

#pragma region TFT DIAGNOSTICS
#ifndef N0_DIAGNOSTICS

  // read diagnostics (optional but can help debug problems)
  uint8_t x = tft.readcommand8(ILI9341_RDMODE);
  Serial.print("Display Power Mode: 0x"); Serial.println(x, HEX);
  x = tft.readcommand8(ILI9341_RDMADCTL);
  Serial.print("MADCTL Mode: 0x"); Serial.println(x, HEX);
  x = tft.readcommand8(ILI9341_RDPIXFMT);
  Serial.print("Pixel Format: 0x"); Serial.println(x, HEX);
  x = tft.readcommand8(ILI9341_RDIMGFMT);
  Serial.print("Image Format: 0x"); Serial.println(x, HEX);
  x = tft.readcommand8(ILI9341_RDSELFDIAG);
  Serial.print("Self Diagnostic: 0x"); Serial.println(x, HEX);

  Serial.println(F("Benchmark                Time (microseconds)"));

  Serial.print(F("Screen fill              "));
  Serial.println(testFillScreen());
  delay(200);

  Serial.print(F("Text                     "));
  Serial.println(testText());
  delay(600);

  Serial.print(F("Proportional Text        "));
  Serial.println(testProportionalText());
  delay(600);

  Serial.print(F("Lines                    "));
  Serial.println(testLines(ILI9341_CYAN));
  delay(200);

  Serial.print(F("Horiz/Vert Lines         "));
  Serial.println(testFastLines(ILI9341_RED, ILI9341_BLUE));
  delay(200);

  Serial.print(F("Rectangles (outline)     "));
  Serial.println(testRects(ILI9341_GREEN));
  delay(200);

  Serial.print(F("Rectangles (filled)      "));
  Serial.println(testFilledRects(ILI9341_YELLOW, ILI9341_MAGENTA));
  delay(200);

  Serial.print(F("Circles (filled)         "));
  Serial.println(testFilledCircles(10, ILI9341_MAGENTA));

  Serial.print(F("Circles (outline)        "));
  Serial.println(testCircles(10, ILI9341_WHITE));
  delay(200);

  Serial.print(F("Triangles (outline)      "));
  Serial.println(testTriangles());
  delay(200);

  Serial.print(F("Triangles (filled)       "));
  Serial.println(testFilledTriangles());
  delay(200);

  Serial.print(F("Rounded rects (outline)  "));
  Serial.println(testRoundRects());
  delay(200);

  Serial.print(F("Rounded rects (filled)   "));
  Serial.println(testFilledRoundRects());
  delay(200);

  Serial.println(F("Done!"));
#endif // !N0_DIAGNOSTICS
#pragma endregion region TFT DIAGNOSTICS

#pragma region RTC_SETUP
  DateBox.Draw(&tft); //erase previous text
  tft.setCursor(0, 0);
  Serial.println("Initializing RTC...");
  //tft.println("Initializing RTC...");
  delay(1000);

  if (!rtc.begin())
  {
    DateBox.Draw(&tft); //erase previous text
    tft.setCursor(0, 0);
    Serial.println("Couldn't find RTC");
    tft.println("Couldn't find RTC");
    while (1);
  }

  bool lp = rtc.lostPower();
  Serial.print("lostPower() reports "); Serial.println(lp);
  DateBox.Draw(&tft); //erase previous text
  tft.setCursor(0, 0);
  tft.printf("lostPower() = %d\n", lp);
  delay(1000);
  if (rtc.lostPower())
  {
    Serial.println("RTC lost power.  Setting RTC to last compile time");
    DateBox.Draw(&tft); //erase previous text
    tft.setCursor(0, 0);
    tft.println("RTC lost power.  Setting RTC to last compile time");

    // following line sets the RTC to the date & time this sketch was compiled
    rtc.adjust(DateTime(F(__DATE__), F(__TIME__)));
  }

#ifdef FORCE_RTC_TO_LAST_COMPILE_TIME
  Serial.println("Forcing RTC to last compile time");
  // following line sets the RTC to the date & time this sketch was compiled
  rtc.adjust(DateTime(F(__DATE__), F(__TIME__)));
#endif // 

  //DateTime now = rtc.now();
  now = rtc.now();
  memset(buffer, '\0', 100);
  GetDayDateTimeStringFromDateTime(now, buffer);
  Serial.println("Retrieving Date/Time from RTC....");
  Serial.print("Date String = "); Serial.println(buffer);
#pragma endregion RTC_SETUP


  //DEBUG!!
    //tft.println("Setting time to just before midnight");
    //rtc.adjust(DateTime(2021, 02, 13, 00, 59, 45));
  //DEBUG!!

    //02/15/21 needed detect hour changes for screen refresh
  now = rtc.now();
  lasthour = now.hour();
  mSecSinceLastClockUpdate = 0; //used to space out clock updates in loop()
}


void loop(void)
{

  //Serial.printf("%lu: mSecSinceLastClockUpdate = %lu\n", millis(), (long int)mSecSinceLastClockUpdate);
  delay(100);

  //see if there is a touch anywhere
  if (ts.touched())
  {
    mSecSinceLastTouch = 0; //reset the timeout watchdog

    while (mSecSinceLastTouch < TOUCH_TIMEOUT_MSEC)
    {
      //Serial.printf("mSecSinceLastTouch = %lu\n", (unsigned long int)mSecSinceLastTouch);

      TS_Point Tp = ts.getPoint();// Retrieve the touch point
      if (Tp.z > 1000)
      {
        mSecSinceLastTouch = 0; //reset the timeout watchdog
        TS_Point Dp = GetTouchPointInDisplayCoords(Tp);

        CurAdjState = (AdjustmentState)AdjustTimeAndDate(Dp);
        Serial.printf("Tp.z = %d: AdjustTimeAndDate(%d, %d) returns %s\n", Tp.z, Dp.x, Dp.y, AdjValNameArray[(int)CurAdjState]);

        if (CurAdjState > ADJ_NONE)
        {
          ShowLongTimeDisplay();
          ShowAdjButtons();
        }
      }
    }

    HideButtons();
    HideHighlightBars();
    ShowNormalTimeDisplay();
    ShowDateDisplay();
    CurAdjState = ADJ_NONE;

    mSecSinceLastClockUpdate = 0;
  }


  if (mSecSinceLastClockUpdate > CLOCK_UPDATE_MSEC)
  {
    mSecSinceLastClockUpdate -= CLOCK_UPDATE_MSEC;
    now = rtc.now();

    ShowDateDisplay(); //Display day and date

    //Display time
    if (CurAdjState > ADJ_NONE)
    {
      ShowLongTimeDisplay();
    }
    else
    {
      ShowNormalTimeDisplay();
    }
  }
}

#pragma region DATE_TIME_FUNCTIONS
void GetDayDateTimeStringFromDateTime(DateTime dt, char* bufptr)
{
  int mydayofweek = dt.dayOfTheWeek();
  //mydayofweek = (mydayofweek < 0) ? 0 : mydayofweek; //guard for return of 0 from weekday()
  int myday = dt.day();
  int mymonth = dt.month();
  int myyear = dt.year();
  int myhour = dt.hour();
  int mymin = dt.minute();
  int mysec = dt.second();
  char* dayofweek = (char*)daysOfTheWeek[mydayofweek];

  sprintf(bufptr, "%s %4d/%02d/%02d at %02d:%02d:%02d", dayofweek, mymonth, myday, myyear, myhour, mymin, mysec);
}


void HourStringFromDateTime(DateTime dt, char* bufptr)
{
  int hourval = dt.hour();
  if (hourval > 12)
  {
    hourval -= 12;
  }

  //sprintf(bufptr, "%02d", hourval);
  sprintf(bufptr, "%d", hourval);
}

void MinuteStringFromDateTime(DateTime dt, char* bufptr)
{
  sprintf(bufptr, "%02d", dt.minute());
}
#pragma endregion DATE_TIME_FUNCTIONS

AdjustmentState AdjustTimeAndDate(TS_Point Dp)
{
  AdjustmentState adjstate = ADJ_NONE;
  DateTime newtime;
  DateTime now = rtc.now();
  int new_hour = 0; int new_minute = 0; int new_month = 0; int new_day = 0;
  int cur_day = 0; //added 07/13/21

  //Serial.printf("In AdjustTimeAndDate with CurAdjState = %d, at point (%d,%d)\n", CurAdjState, Dp.x, Dp.y);

  switch (CurAdjState)
  {
  case ADJ_NONE:
    if (TimeBox.TouchHit(Dp.x, Dp.y))
    {
      adjstate = ADJ_HOUR; //always start with hour
      ShowHighlightBar(ADJ_HOUR);
    }
    else if (DateBox.TouchHit(Dp.x, Dp.y))
    {
      adjstate = ADJ_MONTH; //always start with month
      ShowHighlightBar(ADJ_MONTH);
    }
    break;
  case ADJ_HOUR:
    Serial.print("In AdjustTimeAndDate ADJ_HOUR case\n");
    adjstate = ADJ_HOUR;

    if (PlusBox.TouchHit(Dp.x, Dp.y))
    {
      Serial.printf("Plus box touch at (%d,%d)\n", Dp.x, Dp.y);
      Serial.printf("Old time is %d/%d/%d %d:%d\n", now.month(), now.day(), now.year(), now.hour(), now.minute());
      new_hour = now.hour() + 1;
      if (new_hour >= 24)
      {
        new_hour -= 24;
      }
      newtime = DateTime(now.year(), now.month(), now.day(), new_hour, now.minute(), now.second());
      Serial.printf("New time is %d/%d/%d %d:%d\n", newtime.month(), newtime.day(), newtime.year(), newtime.hour(), newtime.minute());
      rtc.adjust(newtime);
      now = rtc.now();
      Serial.printf("RTC now set to %d/%d/%d %d:%d\n", now.day(), now.month(), now.year(), now.hour(), now.minute());
      ShowLongTimeDisplay();
      delay(500);  //delay for a while to avoid multiple 'add' operations
    }
    else if (MinusBox.TouchHit(Dp.x, Dp.y))
    {
      Serial.printf("Minus box touch at (%d,%d)\n", Dp.x, Dp.y);
      Serial.printf("Old time is %d/%d/%d %d:%d\n", now.month(), now.day(), now.year(), now.hour(), now.minute());
      new_hour = now.hour() - 1;
      if (new_hour < 0)
      {
        new_hour += 24;
      }
      newtime = DateTime(now.year(), now.month(), now.day(), new_hour, now.minute(), now.second());
      Serial.printf("New time is %d/%d/%d %d:%d\n", newtime.month(), newtime.day(), newtime.year(), newtime.hour(), newtime.minute());
      rtc.adjust(newtime);
      now = rtc.now();
      Serial.printf("RTC now set to %d/%d/%d %d:%d\n", now.day(), now.month(), now.year(), now.hour(), now.minute());
      ShowLongTimeDisplay();
      delay(500);  //delay for a while to avoid multiple 'add' operations
    }
    else if (NextBox.TouchHit(Dp.x, Dp.y))
    {
      Serial.printf("Next box touch at (%d,%d)\n", Dp.x, Dp.y);
      adjstate = ADJ_MIN;
      ShowHighlightBar(ADJ_MIN);
      delay(500); //prevent multiple NEXT transitions
    }
    break;
  case ADJ_MIN:
    Serial.print("In AdjustTimeAndDate ADJ_MIN case\n");
    adjstate = ADJ_MIN;

    if (PlusBox.TouchHit(Dp.x, Dp.y))
    {
      Serial.printf("Plus box touch at (%d,%d)\n", Dp.x, Dp.y);
      Serial.printf("Old time is %d/%d/%d %2d:%2d\n", now.month(), now.day(), now.year(), now.hour(), now.minute());
      new_minute = now.minute() + 1;
      if (new_minute >= 60)
      {
        new_minute = 0;
      }

      newtime = DateTime(now.year(), now.month(), now.day(), now.hour(), new_minute, now.second());
      Serial.printf("New time is %2d:%2d\n", newtime.hour(), newtime.minute());
      rtc.adjust(newtime);
      now = rtc.now();
      Serial.printf("RTC now set to %2d:%2d\n", now.day(), now.hour(), now.minute());
      ShowLongTimeDisplay();
      delay(500);  //delay for a while to avoid multiple 'add' operations
    }
    else if (MinusBox.TouchHit(Dp.x, Dp.y))
    {
      Serial.printf("Minus box touch at (%d,%d)\n", Dp.x, Dp.y);
      Serial.printf("ADJ_MIN case in DoMinusOp().  Decrementing Minute Value\n");
      Serial.printf("Old time is %2d:%2d\n", now.hour(),now.minute());
      new_minute = now.minute() - 1;
      if (new_minute < 0)
      {
        Serial.printf("adjusting for 00/59 rollover\n");
        new_minute = 59;
      }
      newtime = DateTime(now.year(), now.month(), now.day(), now.hour(), new_minute);
      rtc.adjust(newtime);
      now = rtc.now();
      Serial.printf("New time is %d:%d\n", now.hour(), now.minute());
      Serial.printf("RTC now set to %2d:%2d\n", now.hour(), now.minute());
      ShowLongTimeDisplay();
      delay(500);  //delay for a while to avoid multiple 'decrement' operations
    }
    else if (NextBox.TouchHit(Dp.x, Dp.y))
    {
      //Serial.printf("Next box touch at (%d,%d)\n", Dp.x, Dp.y);
      adjstate = ADJ_SEC;
      ShowHighlightBar(ADJ_SEC);
      delay(500); //prevent multiple NEXT transitions
    }
    break;
  case ADJ_SEC:
    Serial.print("In AdjustTimeAndDate ADJ_SEC case\n");
    adjstate = ADJ_SEC;

    //both PLUS & MINUS operations simply reset seconds to zero
    if (PlusBox.TouchHit(Dp.x, Dp.y))
    {
      Serial.printf("Plus box touch at (%d,%d)\n", Dp.x, Dp.y);
      Serial.printf("Old time is %d/%d/%d %d:%d:%d\n", now.month(), now.day(), now.year(), now.hour(), now.minute(), now.second());

      newtime = DateTime(now.year(), now.month(), now.day(), now.hour(), now.minute(), 0);
      Serial.printf("New time is %d/%d/%d %d:%d:%d\n", newtime.month(), newtime.day(), newtime.year(), newtime.hour(), newtime.minute(), newtime.second());
      rtc.adjust(newtime);
      now = rtc.now();
      Serial.printf("RTC now set to %d/%d/%d %d:%d:%d\n", now.day(), now.month(), now.year(), now.hour(), now.minute(), now.second());
      ShowLongTimeDisplay();
      delay(500);  //delay for a while to avoid multiple 'add' operations
    }
    else if (MinusBox.TouchHit(Dp.x, Dp.y))
    {
      Serial.printf("Minus box touch at (%d,%d)\n", Dp.x, Dp.y);
      Serial.printf("Old time is %d/%d/%d %d:%d:%d\n", now.month(), now.day(), now.year(), now.hour(), now.minute(), now.second());

      newtime = DateTime(now.year(), now.month(), now.day(), now.hour(), now.minute(), 0);
      Serial.printf("New time is %d/%d/%d %d:%d:%d\n", newtime.month(), newtime.day(), newtime.year(), newtime.hour(), newtime.minute(), newtime.second());
      rtc.adjust(newtime);
      now = rtc.now();
      Serial.printf("RTC now set to %d/%d/%d %d:%d:%d\n", now.day(), now.month(), now.year(), now.hour(), now.minute(), now.second());
      ShowLongTimeDisplay();
      delay(500);  //delay for a while to avoid multiple 'add' operations
    }
    else if (NextBox.TouchHit(Dp.x, Dp.y))
    {
      //Serial.printf("Next box touch at (%d,%d)\n", Dp.x, Dp.y);
      adjstate = ADJ_HOUR;
      ShowHighlightBar(ADJ_HOUR);
      delay(500); //prevent multiple NEXT transitions
    }
    break;
  case ADJ_DAYOFWEEK:
    break;
  case ADJ_MONTH: //07/13/21 rev to watch for next/prev month max days
    Serial.print("In AdjustTimeAndDate ADJ_MONTH case\n");
    adjstate = ADJ_MONTH;

    if (PlusBox.TouchHit(Dp.x, Dp.y))
    {
      Serial.printf("Plus box touch at (%d,%d)\n", Dp.x, Dp.y);
      Serial.printf("Old time is %d/%d/%d %d:%d\n", now.month(), now.day(), now.year(), now.hour(), now.minute());
      new_month = now.month() + 1;
      if (new_month > 12)
      {
        new_month = 1; //07/13/21 bugfix
      }

      //07/13/21 have to adjust if current dayval > max for new month
      cur_day = now.day();

      if (cur_day > aDaysInMonth[new_month - 1])
      {
        Serial.printf("%d Exceeds max days for new month (%d for %d)\n", cur_day, aDaysInMonth[new_month - 1], new_month);
        new_day = aDaysInMonth[new_month - 1];
      }
      else
      {
        new_day = cur_day;
      }

      newtime = DateTime(now.year(), new_month, new_day, now.hour(), now.minute(), now.second());
      Serial.printf("New time is %d/%d/%d %2d:%2d\n", newtime.month(), newtime.day(), newtime.year(), newtime.hour(), newtime.minute());
      rtc.adjust(newtime);
      now = rtc.now();
      Serial.printf("RTC now set to %d/%d/%d %2d:%2d\n", now.month(), now.day(), now.year(), now.hour(), now.minute());
      ShowDateDisplay();
      delay(500);  //delay for a while to avoid multiple 'add' operations
    }
    else if (MinusBox.TouchHit(Dp.x, Dp.y))
    {
      Serial.printf("Minus box touch at (%d,%d)\n", Dp.x, Dp.y);
      Serial.printf("Old time is %d/%d/%d %2d:%2d\n", now.month(), now.day(), now.year(), now.hour(), now.minute());
      new_month = now.month() - 1;
      /*new_month = (new_month <= 0) ? 12 : new_month; */
      if (new_month <= 0)
      {
        new_month = 12; //no need to check max days, as feb max is 28 and dec max is 31
      }
      else
      {
        //have to check max days for new month
        cur_day = now.day();
        if (cur_day > aDaysInMonth[new_month - 1])
        {
          Serial.printf("%d Exceeds max days for new month (%d for %d)\n", cur_day, aDaysInMonth[new_month - 1], new_month);
          new_day = aDaysInMonth[new_month - 1];
        }
        else new_day = cur_day;
      }

      //newtime = DateTime(now.year(), new_month, now.day(), now.hour(), now.minute(), now.second());
      newtime = DateTime(now.year(), new_month, new_day, now.hour(), now.minute(), now.second());
      Serial.printf("New time is %d/%d/%d %2d:%2d\n", newtime.month(), newtime.day(), newtime.year(), newtime.hour(), newtime.minute());
      rtc.adjust(newtime);
      now = rtc.now();
      Serial.printf("RTC now set to %d/%d/%d %2d:%2d\n", now.day(), now.month(), now.year(), now.hour(), now.minute());
      ShowDateDisplay();
      delay(500);  //delay for a while to avoid multiple 'add' operations
    }
    else if (NextBox.TouchHit(Dp.x, Dp.y))
    {
      //Serial.printf("Next box touch at (%d,%d)\n", Dp.x, Dp.y);
      adjstate = ADJ_DAY;
      ShowHighlightBar(ADJ_DAY);
      delay(500); //prevent multiple NEXT transitions
    }
    break;
  case ADJ_DAY:
    Serial.print("In AdjustTimeAndDate ADJ_DAY case\n");
    adjstate = ADJ_DAY;

    if (PlusBox.TouchHit(Dp.x, Dp.y))
    {
      Serial.printf("Plus box touch at (%d,%d)\n", Dp.x, Dp.y);
      Serial.printf("Old time is %d/%d/%d %2d:%2d\n", now.month(), now.day(), now.year(), now.hour(), now.minute());
      new_day = AdjustDayValue(now.month(), now.day() + 1); //not all months have same number of days
      newtime = DateTime(now.year(), now.month(), new_day, now.hour(), now.minute(), now.second());
      Serial.printf("New time is %d/%d/%d %d:%d\n", newtime.month(), newtime.day(), newtime.year(), newtime.hour(), newtime.minute());
      rtc.adjust(newtime);
      now = rtc.now();
      Serial.printf("RTC now set to %d/%d/%d %d:%d\n", now.day(), now.month(), now.year(), now.hour(), now.minute());
      ShowDateDisplay();
      delay(500);  //delay for a while to avoid multiple 'add' operations
    }
    else if (MinusBox.TouchHit(Dp.x, Dp.y))
    {
      Serial.printf("Minus box touch at (%d,%d)\n", Dp.x, Dp.y);
      Serial.printf("Old time is %d/%d/%d %d:%d\n", now.month(), now.day(), now.year(), now.hour(), now.minute());
      new_day = now.day() - 1;
      new_day = (new_day <= 0) ? aDaysInMonth[now.month() - 1] : new_day;
      newtime = DateTime(now.year(), now.month(), new_day, now.hour(), now.minute(), now.second());
      Serial.printf("New time is %d/%d/%d %d:%d\n", newtime.month(), newtime.day(), newtime.year(), newtime.hour(), newtime.minute());
      rtc.adjust(newtime);
      now = rtc.now();
      Serial.printf("RTC now set to %d/%d/%d %d:%d\n", now.day(), now.month(), now.year(), now.hour(), now.minute());
      ShowDateDisplay();
      delay(500);  //delay for a while to avoid multiple 'add' operations
    }
    else if (NextBox.TouchHit(Dp.x, Dp.y))
    {
      //Serial.printf("Next box touch at (%d,%d)\n", Dp.x, Dp.y);
      adjstate = ADJ_YEAR;
      ShowHighlightBar(ADJ_YEAR);
      delay(500); //prevent multiple NEXT transitions
    }
    break;
  case ADJ_YEAR:
    Serial.print("In AdjustTimeAndDate ADJ_YEAR case\n");
    adjstate = ADJ_YEAR;

    if (PlusBox.TouchHit(Dp.x, Dp.y))
    {
      Serial.printf("Plus box touch at (%d,%d)\n", Dp.x, Dp.y);
      Serial.printf("Old time is %d/%d/%d %2d:%2d\n", now.month(), now.day(), now.year(), now.hour(), now.minute());
      newtime = DateTime(now.year() + 1, now.month(), now.day(), now.hour(), now.minute(), now.second());
      Serial.printf("New time is %d/%d/%d %2d:%2d\n", newtime.month(), newtime.day(), newtime.year(), newtime.hour(), newtime.minute());
      rtc.adjust(newtime);
      now = rtc.now();
      Serial.printf("RTC now set to %d/%d/%d %2d:%2d\n", now.month(), now.day(), now.year(), now.hour(), now.minute());
      ShowDateDisplay();
      delay(500);  //delay for a while to avoid multiple 'add' operations
    }
    else if (MinusBox.TouchHit(Dp.x, Dp.y))
    {
      Serial.printf("Minus box touch at (%d,%d)\n", Dp.x, Dp.y);
      Serial.printf("Old time is %d/%d/%d %2d:%2d\n", now.month(), now.day(), now.year(), now.hour(), now.minute());
      newtime = DateTime(now.year() - 1, now.month(), now.day(), now.hour(), now.minute(), now.second());
      Serial.printf("New time is %d/%d/%d %2d:%2d\n", newtime.month(), newtime.day(), newtime.year(), newtime.hour(), newtime.minute());
      rtc.adjust(newtime);
      now = rtc.now();
      Serial.printf("RTC now set to %d/%d/%d %d:%d\n", now.day(), now.month(), now.year(), now.hour(), now.minute());
      ShowDateDisplay();
      delay(500);  //delay for a while to avoid multiple 'add' operations
    }
    else if (NextBox.TouchHit(Dp.x, Dp.y))
    {
      //Serial.printf("Next box touch at (%d,%d)\n", Dp.x, Dp.y);
      adjstate = ADJ_MONTH;
      ShowHighlightBar(ADJ_MONTH);
      delay(500); //prevent multiple NEXT transitions
    }
    break;
  default:
    break;
  }

  //Serial.printf("AdjustTimeAndDate(%d, %d) returns %d\n", Dp.x, Dp.y, (int)adjstate);
  return adjstate;
}

#pragma region Helper Functions
TS_Point GetTouchPointInDisplayCoords(TS_Point Tp)
{
  //Purpose:  Retrieve a touch point in display coordinate system
  //Inputs:
  //  Rotation value
  //  Mapping values
  //  TS_Point from touch chip
  //Outputs:
  //  TS_Point object containing touch (X,Y) in display coordinates
  //Plan:
  //  Step1: Retrieve touch point from touch chip
  //  Step2: Map to display coordinates taking rotation into account

//Step1: Retrieve touch point from touch chip
  //TS_Point Tp = ts.getPoint();
  TS_Point Dp;
  //Step2: Map to display coordinates taking rotation into account
#ifdef SCREEN_ORIENTATION_1
  Dp.x = map(Tp.x, TS_MAXX, TS_MINX, 0, tft.width());
  Dp.y = map(Tp.y, TS_MAXY, TS_MINY, 0, tft.height());
#else
#endif

  ////DEBUG!!
  //Serial.printf(" GetTouchPointInDisplayCoords: %lu\t%d\t%d\t%d\t%d\t%d\n",
  //  millis(), Tp.x, Tp.y, Tp.z, Dp.x, Dp.y);
  ////DEBUG!!

  return Dp;
}

void ShowAdjButtons()
{
  Serial.printf("In ShowAdjButtons\n");
  HideButtons();

  //03/13/21 new centering feature works great!
  NextBox.Draw(&tft, "NEXT", ILI9341_BLACK, Arial_20, true);
  PlusBox.Draw(&tft, "+", ILI9341_BLACK, Arial_40, true);
  MinusBox.Draw(&tft, "-", ILI9341_BLACK, Arial_40, true);
}

void HideButtons()
{
  PlusBox.Draw(&tft, ILI9341_BLACK);
  MinusBox.Draw(&tft, ILI9341_BLACK);
  NextBox.Draw(&tft, ILI9341_BLACK);
}

void ShowNormalTimeDisplay()
{
  //Serial.printf("In ShowNormalTimeDisplay\n");
  now = rtc.now();
  int hournum = now.hour();

  //guard against 1259->1300 && 2359->0000 transitions
  if (hournum > 12)
  {
    hournum -= 12;
  }
  else if (hournum == 0)
  {
    hournum += 12;
  }

  hournum = (hournum > 12) ? hournum - 12 : hournum;

  tft.setCursor(0, 100);
  TimeBox.Draw(&tft); //redraws black background

  tft.setTextColor(ILI9341_RED);
  tft.setFont(Arial_72);
  tft.setCursor(160, 120, true);//try the text centering feature
  tft.printf("%2d:%02d", hournum, now.minute());
}

void ShowLongTimeDisplay()
{
  //Serial.printf("In ShowLongTimeDisplay\n");
  now = rtc.now();
  tft.setTextColor(ILI9341_RED);
  tft.setCursor(160, 120, true);//try the text centering feature
  tft.setFont(Arial_60);
  TimeBox.Draw(&tft); //redraws black background

  int hournum = now.hour();

  //guard against 1259->1300 && 2359->0000 transitions
  if (hournum > 12)
  {
    hournum -= 12;
  }
  else if (hournum == 0)
  {
    hournum += 12;
  }

  hournum = (hournum > 12) ? hournum - 12 : hournum;

  tft.printf("%2d:%02d:%02d", hournum, now.minute(), now.second());
}


void ShowHighlightBar(AdjustmentState adjstate)
{
  switch (adjstate)
  {
  case ADJ_NONE:
    Serial.printf("ADJ_NONE case in ShowHighlightBox()\n");
    HideHighlightBars();
    break;
  case ADJ_HOUR:
    HideHighlightBars();
    HourHighlightBox.Draw(&tft);
    break;
  case ADJ_MIN:
    HideHighlightBars();
    MinuteHighlightBox.Draw(&tft);
    break;
  case ADJ_SEC:
    HideHighlightBars();
    SecondHighlightBox.Draw(&tft);
    break;
  case ADJ_DAYOFWEEK:
    break;
  case ADJ_MONTH:
    HideHighlightBars();
    MonthHighlightBox.Draw(&tft);
    break;
  case ADJ_DAY:
    HideHighlightBars();
    DayHighlightBox.Draw(&tft);
    break;
  case ADJ_YEAR:
    HideHighlightBars();
    YearHighlightBox.Draw(&tft);
    break;
  default:
    break;
  }
}

void HideHighlightBars()
{
  tft.fillRect(0, DATE_HIGHLIGHT_BOX_YLOC, ALL_DATE_HIGHLIGHT_BOX_WIDTH, DATE_HIGHLIGHT_BOX_HEIGHT, ILI9341_BLACK);
  tft.fillRect(0, TIME_HIGHLIGHT_BOX_YLOC, ALL_TIME_HIGHLIGHT_BOX_WIDTH, TIME_HIGHLIGHT_BOX_HEIGHT, ILI9341_BLACK);
}

void ShowDateDisplay()
{
  DateTime now = rtc.now();
  DateBox.Draw(&tft);
  tft.setTextColor(ILI9341_YELLOW);
  tft.setCursor(0, 0);
  //tft.setTextSize(3);
  tft.setFont(Arial_28);
  tft.printf("%s %02d/%02d/%02d\n",
    daysOfTheWeek[now.dayOfTheWeek()], now.month(), now.day(), now.year());
}

int AdjustDayValue(int month, int day)
{
  //Notes:
  //  07/13/21 rev to handle negative day values
  if (day > aDaysInMonth[month - 1])
  {
    Serial.printf("%d is greater than max days (%d) for this month - setting to 1\n", day, aDaysInMonth[month - 1]);
    return 1;
  }
  //07/13/21 bugfix
  else if (day <= 0)
  {
    int newdaynum = aDaysInMonth[month - 1];
    Serial.printf("%d is <= 0: set to max days (%d) for this month\n", day, newdaynum);
    return newdaynum;
  }
  else
  {
    return day;
  }
}
#pragma endregion Helper Functions

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Name: Teensy_LCDClockV4.ino

Created: 3/9/2021 11:12:31 AM

Author: FRANKNEWXPS15\Frank

This project was cloned from Teensy_LCDClockV3 to re-investigate the use of proportional fonts

#include <XPT2046_Touchscreen.h>

#include <ILI9341_t3n.h>

#include <Wire.h>

#include "RTClib.h"

#include "elapsedMillis.h"

#include "CustomBox.h"

#include "ili9341_t3n_font_Arial.h"

#define N0_DIAGNOSTICS

//****************************************************************************

// Settings and objects

//****************************************************************************

#pragma region DISPLAY_PIN_ASSIGNMENTS

//02/15/21 pin assignments from https://www.pjrc.com/store/display_ili9341_touch.html

#define TFT_DC 9

#define TFT_CS 10

#define TFT_RST 7

#define TFT_SCK 13

#define TFT_MISO 12

#define TFT_MOSI 11

#define TOUCH_CS 8

#pragma endregion DISPLAY_PIN_ASSIGNMENTS

XPT2046_Touchscreen ts(TOUCH_CS);

ILI9341_t3n tft = ILI9341_t3n(TFT_CS, TFT_DC, TFT_RST, TFT_MOSI, TFT_SCK, TFT_MISO);

elapsedMillis mSecSinceLastClockUpdate;

const int CLOCK_UPDATE_MSEC = 1000;

#pragma region DISP_AND_ADJ_BOX_PARAMETERS

// Size of the color selection boxes and the paintbrush size

#define MAX_DISPLAY_X 240

#define MAX_DISPLAY_Y 320

#define SCREEN_ORIENTATION_1

#define TS_MINX 600

#define TS_MINY 600

#define TS_MAXX 3758

#define TS_MAXY 3612

const int PLUSBOX_X = 20;

const int PLUSBOX_Y = 180;

const int PLUSBOX_WIDTH = 50;

const int PLUSBOX_HEIGHT = 50;

const int PLUSBOX_COLOR = ILI9341_BLUE;

const int MINUSBOX_X = 120;

const int MINUSBOX_Y = 180;

const int MINUSBOX_WIDTH = 50;

const int MINUSBOX_HEIGHT = 50;

const int MINUSBOX_COLOR = ILI9341_YELLOW;

const String nextstr = "NEXT";

const int nextstr_width = 70;

const int nextstr_height = 20;

const int NEXTBOX_X = 220;

const int NEXTBOX_Y = 180;

const int NEXTBOX_COLOR = ILI9341_GREEN;

const int NEXTBOX_WIDTH = 100;

const int NEXTBOX_HEIGHT = 50;

const int TIME_BOX_X = 0;

const int TIME_BOX_Y = 82;

const int TIME_BOX_WIDTH = 350;

const int TIME_BOX_HEIGHT = 80;

const int DATE_BOX_X = 0;

const int DATE_BOX_Y = 0;

const int DATE_BOX_WIDTH = 320;

const int DATE_BOX_HEIGHT = 30;

//03/05/21 used to hide adjustment boxes

const int ALL_ADJ_BOXES_WIDTH = NEXTBOX_X + NEXTBOX_WIDTH;

const int ALL_ADJ_BOXES_HEIGHT = 50;

const int TIME_HIGHLIGHT_BOX_WIDTH = 75;

const int TIME_HIGHLIGHT_BOX_HEIGHT = 5;

const int TIME_HIGHLIGHT_BOX_YLOC = 75;

const int ALL_TIME_HIGHLIGHT_BOX_WIDTH = ALL_ADJ_BOXES_WIDTH;

const int DATE_HIGHLIGHT_BOX_WIDTH = 40;

const int DATE_HIGHLIGHT_BOX_HEIGHT = 5;

const int DATE_HIGHLIGHT_BOX_YLOC = 40;

const int ALL_DATE_HIGHLIGHT_BOX_WIDTH = ALL_ADJ_BOXES_WIDTH;

CustomBox PlusBox(PLUSBOX_X, PLUSBOX_Y, PLUSBOX_WIDTH, PLUSBOX_HEIGHT, PLUSBOX_COLOR);

CustomBox MinusBox(MINUSBOX_X, MINUSBOX_Y, MINUSBOX_WIDTH, MINUSBOX_HEIGHT, MINUSBOX_COLOR);

CustomBox NextBox(NEXTBOX_X, NEXTBOX_Y, NEXTBOX_WIDTH, NEXTBOX_HEIGHT, NEXTBOX_COLOR);

CustomBox HourHighlightBox(20, TIME_HIGHLIGHT_BOX_YLOC, TIME_HIGHLIGHT_BOX_WIDTH, TIME_HIGHLIGHT_BOX_HEIGHT, ILI9341_WHITE);

CustomBox MinuteHighlightBox(120, TIME_HIGHLIGHT_BOX_YLOC, TIME_HIGHLIGHT_BOX_WIDTH, TIME_HIGHLIGHT_BOX_HEIGHT, ILI9341_WHITE);

CustomBox SecondHighlightBox(230, TIME_HIGHLIGHT_BOX_YLOC, TIME_HIGHLIGHT_BOX_WIDTH, TIME_HIGHLIGHT_BOX_HEIGHT, ILI9341_WHITE);

CustomBox MonthHighlightBox(72, DATE_HIGHLIGHT_BOX_YLOC, DATE_HIGHLIGHT_BOX_WIDTH, DATE_HIGHLIGHT_BOX_HEIGHT, ILI9341_WHITE);

CustomBox DayHighlightBox(132, DATE_HIGHLIGHT_BOX_YLOC, DATE_HIGHLIGHT_BOX_WIDTH, DATE_HIGHLIGHT_BOX_HEIGHT, ILI9341_WHITE);

CustomBox YearHighlightBox(178, DATE_HIGHLIGHT_BOX_YLOC, 90, DATE_HIGHLIGHT_BOX_HEIGHT, ILI9341_WHITE);

CustomBox TimeBox(TIME_BOX_X, TIME_BOX_Y, TIME_BOX_WIDTH, TIME_BOX_HEIGHT, ILI9341_BLACK);

CustomBox DateBox(DATE_BOX_X, DATE_BOX_Y, DATE_BOX_WIDTH, DATE_BOX_HEIGHT, ILI9341_BLACK);

enum AdjustmentState

{

ADJ_NONE = 0,

ADJ_HOUR,

ADJ_MIN,

ADJ_SEC,

ADJ_DAYOFWEEK,

ADJ_MONTH,

ADJ_DAY,

ADJ_YEAR

};

const char AdjValNameArray[8][9] = { "ADJ_NONE", "ADJ_HOUR", "ADJ_MIN", "ADJ_SEC", "ADJ_DOW", "ADJ_MNTH", "ADJ_DAY", "ADJ_YEAR" };

int aDaysInMonth[] = { 31,28,31,30,31,30,31,31,30,31,30,31 };

AdjustmentState CurAdjState = ADJ_NONE;

const int TOUCH_TIMEOUT_MSEC = 5000; //reverts to regular display if no further touch input

elapsedMillis mSecSinceLastTouch; //timer for touch timout

#pragma endregion Display & Adj Box Parameters

#pragma region RTC Support

#define FORCE_RTC_TO_LAST_COMPILE_TIME //uncomment to manually set RTC to last compile time

RTC_DS3231 rtc;

char daysOfTheWeek[7][12] = { "Sun", "Mon", "Tue", "Wed", "Thu", "Fri", "Sat" };

DateTime now, lastTime;

char buffer[100];

int lasthour = 0; //02/15/21 added to refresh screen on the hour

struct tStamp

{

unsigned long mSec;

byte RTC_Status;

};

#define DS3231_ADDRESS 0x68 ///< I2C address for DS3231

#define DS3231_STATUSREG 0x0F ///< Status register

#define RTCStatArraySize 10

#define RTCStatTime_IntervalMsec 100

tStamp RTCStatArray[RTCStatArraySize];

#pragma endregion RTC Support

void setup()

{

Serial.begin(9600);

delay(3000);

Serial.println("Teensy 3.2 TFT Clock Program");

#pragma region DISPLAY INITIALIZATION

Serial.println("Initializing TFT display");

tft.begin();

// Note: you can now set the SPI speed to any value

// the default value is 30Mhz, but most ILI9341 displays

// can handle at least 60Mhz and as much as 100Mhz

// tft.setClock(60000000);

tft.fillScreen(ILI9341_BLACK);

tft.setTextColor(ILI9341_YELLOW);

tft.setTextSize(2);

tft.setRotation(1);

#pragma endregion region DISPLAY INITIALIZATION

#pragma region TFT DIAGNOSTICS

#ifndef N0_DIAGNOSTICS

// read diagnostics (optional but can help debug problems)

uint8_t x = tft.readcommand8(ILI9341_RDMODE);

Serial.print("Display Power Mode: 0x"); Serial.println(x, HEX);

x = tft.readcommand8(ILI9341_RDMADCTL);

Serial.print("MADCTL Mode: 0x"); Serial.println(x, HEX);

x = tft.readcommand8(ILI9341_RDPIXFMT);

Serial.print("Pixel Format: 0x"); Serial.println(x, HEX);

x = tft.readcommand8(ILI9341_RDIMGFMT);

Serial.print("Image Format: 0x"); Serial.println(x, HEX);

x = tft.readcommand8(ILI9341_RDSELFDIAG);

Serial.print("Self Diagnostic: 0x"); Serial.println(x, HEX);

Serial.println(F("Benchmark Time (microseconds)"));

Serial.print(F("Screen fill "));

Serial.println(testFillScreen());

delay(200);

Serial.print(F("Text "));

Serial.println(testText());

delay(600);

Serial.print(F("Proportional Text "));

Serial.println(testProportionalText());

delay(600);

Serial.print(F("Lines "));

Serial.println(testLines(ILI9341_CYAN));

delay(200);

Serial.print(F("Horiz/Vert Lines "));

Serial.println(testFastLines(ILI9341_RED, ILI9341_BLUE));

delay(200);

Serial.print(F("Rectangles (outline) "));

Serial.println(testRects(ILI9341_GREEN));

delay(200);

Serial.print(F("Rectangles (filled) "));

Serial.println(testFilledRects(ILI9341_YELLOW, ILI9341_MAGENTA));

delay(200);

Serial.print(F("Circles (filled) "));

Serial.println(testFilledCircles(10, ILI9341_MAGENTA));

Serial.print(F("Circles (outline) "));

Serial.println(testCircles(10, ILI9341_WHITE));

delay(200);

Serial.print(F("Triangles (outline) "));

Serial.println(testTriangles());

delay(200);

Serial.print(F("Triangles (filled) "));

Serial.println(testFilledTriangles());

delay(200);

Serial.print(F("Rounded rects (outline) "));

Serial.println(testRoundRects());

delay(200);

Serial.print(F("Rounded rects (filled) "));

Serial.println(testFilledRoundRects());

delay(200);

Serial.println(F("Done!"));

#endif // !N0_DIAGNOSTICS

#pragma endregion region TFT DIAGNOSTICS

#pragma region RTC_SETUP

DateBox.Draw(&tft); //erase previous text

tft.setCursor(0, 0);

Serial.println("Initializing RTC...");

//tft.println("Initializing RTC...");

delay(1000);

if (!rtc.begin())

{

DateBox.Draw(&tft); //erase previous text

tft.setCursor(0, 0);

Serial.println("Couldn't find RTC");

tft.println("Couldn't find RTC");

while (1);

}

bool lp = rtc.lostPower();

Serial.print("lostPower() reports "); Serial.println(lp);

DateBox.Draw(&tft); //erase previous text

tft.setCursor(0, 0);

tft.printf("lostPower() = %d\n", lp);

delay(1000);

if (rtc.lostPower())

{

Serial.println("RTC lost power. Setting RTC to last compile time");

DateBox.Draw(&tft); //erase previous text

tft.setCursor(0, 0);

tft.println("RTC lost power. Setting RTC to last compile time");

// following line sets the RTC to the date & time this sketch was compiled

rtc.adjust(DateTime(F(__DATE__), F(__TIME__)));

}

#ifdef FORCE_RTC_TO_LAST_COMPILE_TIME

Serial.println("Forcing RTC to last compile time");

// following line sets the RTC to the date & time this sketch was compiled

rtc.adjust(DateTime(F(__DATE__), F(__TIME__)));

#endif //

//DateTime now = rtc.now();

now = rtc.now();

memset(buffer, '\0', 100);

GetDayDateTimeStringFromDateTime(now, buffer);

Serial.println("Retrieving Date/Time from RTC....");

Serial.print("Date String = "); Serial.println(buffer);

#pragma endregion RTC_SETUP

//DEBUG!!

//tft.println("Setting time to just before midnight");

//rtc.adjust(DateTime(2021, 02, 13, 00, 59, 45));

//DEBUG!!

//02/15/21 needed detect hour changes for screen refresh

now = rtc.now();

lasthour = now.hour();

mSecSinceLastClockUpdate = 0; //used to space out clock updates in loop()

}

void loop(void)

{

//Serial.printf("%lu: mSecSinceLastClockUpdate = %lu\n", millis(), (long int)mSecSinceLastClockUpdate);

delay(100);

//see if there is a touch anywhere

if (ts.touched())

{

mSecSinceLastTouch = 0; //reset the timeout watchdog

while (mSecSinceLastTouch < TOUCH_TIMEOUT_MSEC)

{

//Serial.printf("mSecSinceLastTouch = %lu\n", (unsigned long int)mSecSinceLastTouch);

TS_Point Tp = ts.getPoint();// Retrieve the touch point

if (Tp.z > 1000)

{

mSecSinceLastTouch = 0; //reset the timeout watchdog

TS_Point Dp = GetTouchPointInDisplayCoords(Tp);

CurAdjState = (AdjustmentState)AdjustTimeAndDate(Dp);

Serial.printf("Tp.z = %d: AdjustTimeAndDate(%d, %d) returns %s\n", Tp.z, Dp.x, Dp.y, AdjValNameArray[(int)CurAdjState]);

if (CurAdjState > ADJ_NONE)

{

ShowLongTimeDisplay();

ShowAdjButtons();

}

HideButtons();

HideHighlightBars();

ShowNormalTimeDisplay();

ShowDateDisplay();

CurAdjState = ADJ_NONE;

mSecSinceLastClockUpdate = 0;

}

if (mSecSinceLastClockUpdate > CLOCK_UPDATE_MSEC)

{

mSecSinceLastClockUpdate -= CLOCK_UPDATE_MSEC;

now = rtc.now();

ShowDateDisplay(); //Display day and date

//Display time

if (CurAdjState > ADJ_NONE)

{

ShowLongTimeDisplay();

}

else

{

ShowNormalTimeDisplay();

}

#pragma region DATE_TIME_FUNCTIONS

void GetDayDateTimeStringFromDateTime(DateTime dt, char* bufptr)

{

int mydayofweek = dt.dayOfTheWeek();

//mydayofweek = (mydayofweek < 0) ? 0 : mydayofweek; //guard for return of 0 from weekday()

int myday = dt.day();

int mymonth = dt.month();

int myyear = dt.year();

int myhour = dt.hour();

int mymin = dt.minute();

int mysec = dt.second();

char* dayofweek = (char*)daysOfTheWeek[mydayofweek];

sprintf(bufptr, "%s %4d/%02d/%02d at %02d:%02d:%02d", dayofweek, mymonth, myday, myyear, myhour, mymin, mysec);

}

void HourStringFromDateTime(DateTime dt, char* bufptr)

{

int hourval = dt.hour();

if (hourval > 12)

{

hourval -= 12;

}

//sprintf(bufptr, "%02d", hourval);

sprintf(bufptr, "%d", hourval);

}

void MinuteStringFromDateTime(DateTime dt, char* bufptr)

{

sprintf(bufptr, "%02d", dt.minute());

}

#pragma endregion DATE_TIME_FUNCTIONS

AdjustmentState AdjustTimeAndDate(TS_Point Dp)

{

AdjustmentState adjstate = ADJ_NONE;

DateTime newtime;

DateTime now = rtc.now();

int new_hour = 0; int new_minute = 0; int new_month = 0; int new_day = 0;

int cur_day = 0; //added 07/13/21

//Serial.printf("In AdjustTimeAndDate with CurAdjState = %d, at point (%d,%d)\n", CurAdjState, Dp.x, Dp.y);

switch (CurAdjState)

{

case ADJ_NONE:

if (TimeBox.TouchHit(Dp.x, Dp.y))

{

adjstate = ADJ_HOUR; //always start with hour

ShowHighlightBar(ADJ_HOUR);

}

else if (DateBox.TouchHit(Dp.x, Dp.y))

{

adjstate = ADJ_MONTH; //always start with month

ShowHighlightBar(ADJ_MONTH);

}

break;

case ADJ_HOUR:

Serial.print("In AdjustTimeAndDate ADJ_HOUR case\n");

adjstate = ADJ_HOUR;

if (PlusBox.TouchHit(Dp.x, Dp.y))

{

Serial.printf("Plus box touch at (%d,%d)\n", Dp.x, Dp.y);

Serial.printf("Old time is %d/%d/%d %d:%d\n", now.month(), now.day(), now.year(), now.hour(), now.minute());

new_hour = now.hour() + 1;

if (new_hour >= 24)

{

new_hour -= 24;

}

newtime = DateTime(now.year(), now.month(), now.day(), new_hour, now.minute(), now.second());

Serial.printf("New time is %d/%d/%d %d:%d\n", newtime.month(), newtime.day(), newtime.year(), newtime.hour(), newtime.minute());

rtc.adjust(newtime);

now = rtc.now();

Serial.printf("RTC now set to %d/%d/%d %d:%d\n", now.day(), now.month(), now.year(), now.hour(), now.minute());

ShowLongTimeDisplay();

delay(500); //delay for a while to avoid multiple 'add' operations

}

else if (MinusBox.TouchHit(Dp.x, Dp.y))

{

Serial.printf("Minus box touch at (%d,%d)\n", Dp.x, Dp.y);

Serial.printf("Old time is %d/%d/%d %d:%d\n", now.month(), now.day(), now.year(), now.hour(), now.minute());

new_hour = now.hour() - 1;

if (new_hour < 0)

{

new_hour += 24;

}

newtime = DateTime(now.year(), now.month(), now.day(), new_hour, now.minute(), now.second());

Serial.printf("New time is %d/%d/%d %d:%d\n", newtime.month(), newtime.day(), newtime.year(), newtime.hour(), newtime.minute());

rtc.adjust(newtime);

now = rtc.now();

Serial.printf("RTC now set to %d/%d/%d %d:%d\n", now.day(), now.month(), now.year(), now.hour(), now.minute());

ShowLongTimeDisplay();

delay(500); //delay for a while to avoid multiple 'add' operations

}

else if (NextBox.TouchHit(Dp.x, Dp.y))

{

Serial.printf("Next box touch at (%d,%d)\n", Dp.x, Dp.y);

adjstate = ADJ_MIN;

ShowHighlightBar(ADJ_MIN);

delay(500); //prevent multiple NEXT transitions

}

break;

case ADJ_MIN:

Serial.print("In AdjustTimeAndDate ADJ_MIN case\n");

adjstate = ADJ_MIN;

if (PlusBox.TouchHit(Dp.x, Dp.y))

{

Serial.printf("Plus box touch at (%d,%d)\n", Dp.x, Dp.y);

Serial.printf("Old time is %d/%d/%d %2d:%2d\n", now.month(), now.day(), now.year(), now.hour(), now.minute());

new_minute = now.minute() + 1;

if (new_minute >= 60)

{

new_minute = 0;

}

newtime = DateTime(now.year(), now.month(), now.day(), now.hour(), new_minute, now.second());

Serial.printf("New time is %2d:%2d\n", newtime.hour(), newtime.minute());

rtc.adjust(newtime);

now = rtc.now();

Serial.printf("RTC now set to %2d:%2d\n", now.day(), now.hour(), now.minute());

ShowLongTimeDisplay();

delay(500); //delay for a while to avoid multiple 'add' operations

}

else if (MinusBox.TouchHit(Dp.x, Dp.y))

{

Serial.printf("Minus box touch at (%d,%d)\n", Dp.x, Dp.y);

Serial.printf("ADJ_MIN case in DoMinusOp(). Decrementing Minute Value\n");

Serial.printf("Old time is %2d:%2d\n", now.hour(),now.minute());

new_minute = now.minute() - 1;

if (new_minute < 0)

{

Serial.printf("adjusting for 00/59 rollover\n");

new_minute = 59;

}

newtime = DateTime(now.year(), now.month(), now.day(), now.hour(), new_minute);

rtc.adjust(newtime);

now = rtc.now();

Serial.printf("New time is %d:%d\n", now.hour(), now.minute());

Serial.printf("RTC now set to %2d:%2d\n", now.hour(), now.minute());

ShowLongTimeDisplay();

delay(500); //delay for a while to avoid multiple 'decrement' operations

}

else if (NextBox.TouchHit(Dp.x, Dp.y))

{

//Serial.printf("Next box touch at (%d,%d)\n", Dp.x, Dp.y);

adjstate = ADJ_SEC;

ShowHighlightBar(ADJ_SEC);

delay(500); //prevent multiple NEXT transitions

}

break;

case ADJ_SEC:

Serial.print("In AdjustTimeAndDate ADJ_SEC case\n");

adjstate = ADJ_SEC;

//both PLUS & MINUS operations simply reset seconds to zero

if (PlusBox.TouchHit(Dp.x, Dp.y))

{

Serial.printf("Plus box touch at (%d,%d)\n", Dp.x, Dp.y);

Serial.printf("Old time is %d/%d/%d %d:%d:%d\n", now.month(), now.day(), now.year(), now.hour(), now.minute(), now.second());

newtime = DateTime(now.year(), now.month(), now.day(), now.hour(), now.minute(), 0);

Serial.printf("New time is %d/%d/%d %d:%d:%d\n", newtime.month(), newtime.day(), newtime.year(), newtime.hour(), newtime.minute(), newtime.second());

rtc.adjust(newtime);

now = rtc.now();

Serial.printf("RTC now set to %d/%d/%d %d:%d:%d\n", now.day(), now.month(), now.year(), now.hour(), now.minute(), now.second());

ShowLongTimeDisplay();

delay(500); //delay for a while to avoid multiple 'add' operations

}

else if (MinusBox.TouchHit(Dp.x, Dp.y))

{

Serial.printf("Minus box touch at (%d,%d)\n", Dp.x, Dp.y);

Serial.printf("Old time is %d/%d/%d %d:%d:%d\n", now.month(), now.day(), now.year(), now.hour(), now.minute(), now.second());

newtime = DateTime(now.year(), now.month(), now.day(), now.hour(), now.minute(), 0);

Serial.printf("New time is %d/%d/%d %d:%d:%d\n", newtime.month(), newtime.day(), newtime.year(), newtime.hour(), newtime.minute(), newtime.second());

rtc.adjust(newtime);

now = rtc.now();

Serial.printf("RTC now set to %d/%d/%d %d:%d:%d\n", now.day(), now.month(), now.year(), now.hour(), now.minute(), now.second());

ShowLongTimeDisplay();

delay(500); //delay for a while to avoid multiple 'add' operations

}

else if (NextBox.TouchHit(Dp.x, Dp.y))

{

//Serial.printf("Next box touch at (%d,%d)\n", Dp.x, Dp.y);

adjstate = ADJ_HOUR;

ShowHighlightBar(ADJ_HOUR);

delay(500); //prevent multiple NEXT transitions

}

break;

case ADJ_DAYOFWEEK:

break;

case ADJ_MONTH: //07/13/21 rev to watch for next/prev month max days

Serial.print("In AdjustTimeAndDate ADJ_MONTH case\n");

adjstate = ADJ_MONTH;

if (PlusBox.TouchHit(Dp.x, Dp.y))

{

Serial.printf("Plus box touch at (%d,%d)\n", Dp.x, Dp.y);

Serial.printf("Old time is %d/%d/%d %d:%d\n", now.month(), now.day(), now.year(), now.hour(), now.minute());

new_month = now.month() + 1;

if (new_month > 12)

{

new_month = 1; //07/13/21 bugfix

}

//07/13/21 have to adjust if current dayval > max for new month

cur_day = now.day();

if (cur_day > aDaysInMonth[new_month - 1])

{

Serial.printf("%d Exceeds max days for new month (%d for %d)\n", cur_day, aDaysInMonth[new_month - 1], new_month);

new_day = aDaysInMonth[new_month - 1];

}

else

{

new_day = cur_day;

}

newtime = DateTime(now.year(), new_month, new_day, now.hour(), now.minute(), now.second());

Serial.printf("New time is %d/%d/%d %2d:%2d\n", newtime.month(), newtime.day(), newtime.year(), newtime.hour(), newtime.minute());

rtc.adjust(newtime);

now = rtc.now();

Serial.printf("RTC now set to %d/%d/%d %2d:%2d\n", now.month(), now.day(), now.year(), now.hour(), now.minute());

ShowDateDisplay();

delay(500); //delay for a while to avoid multiple 'add' operations

}

else if (MinusBox.TouchHit(Dp.x, Dp.y))

{

Serial.printf("Minus box touch at (%d,%d)\n", Dp.x, Dp.y);

Serial.printf("Old time is %d/%d/%d %2d:%2d\n", now.month(), now.day(), now.year(), now.hour(), now.minute());

new_month = now.month() - 1;

/*new_month = (new_month <= 0) ? 12 : new_month; */

if (new_month <= 0)

{

new_month = 12; //no need to check max days, as feb max is 28 and dec max is 31

}

else

{

//have to check max days for new month

cur_day = now.day();

if (cur_day > aDaysInMonth[new_month - 1])

{

Serial.printf("%d Exceeds max days for new month (%d for %d)\n", cur_day, aDaysInMonth[new_month - 1], new_month);

new_day = aDaysInMonth[new_month - 1];

}

else new_day = cur_day;

}

//newtime = DateTime(now.year(), new_month, now.day(), now.hour(), now.minute(), now.second());

newtime = DateTime(now.year(), new_month, new_day, now.hour(), now.minute(), now.second());

Serial.printf("New time is %d/%d/%d %2d:%2d\n", newtime.month(), newtime.day(), newtime.year(), newtime.hour(), newtime.minute());

rtc.adjust(newtime);

now = rtc.now();

Serial.printf("RTC now set to %d/%d/%d %2d:%2d\n", now.day(), now.month(), now.year(), now.hour(), now.minute());

ShowDateDisplay();

delay(500); //delay for a while to avoid multiple 'add' operations

}

else if (NextBox.TouchHit(Dp.x, Dp.y))

{

//Serial.printf("Next box touch at (%d,%d)\n", Dp.x, Dp.y);

adjstate = ADJ_DAY;

ShowHighlightBar(ADJ_DAY);

delay(500); //prevent multiple NEXT transitions

}

break;

case ADJ_DAY:

Serial.print("In AdjustTimeAndDate ADJ_DAY case\n");

adjstate = ADJ_DAY;

if (PlusBox.TouchHit(Dp.x, Dp.y))

{

Serial.printf("Plus box touch at (%d,%d)\n", Dp.x, Dp.y);

Serial.printf("Old time is %d/%d/%d %2d:%2d\n", now.month(), now.day(), now.year(), now.hour(), now.minute());

new_day = AdjustDayValue(now.month(), now.day() + 1); //not all months have same number of days

newtime = DateTime(now.year(), now.month(), new_day, now.hour(), now.minute(), now.second());

Serial.printf("New time is %d/%d/%d %d:%d\n", newtime.month(), newtime.day(), newtime.year(), newtime.hour(), newtime.minute());

rtc.adjust(newtime);

now = rtc.now();

Serial.printf("RTC now set to %d/%d/%d %d:%d\n", now.day(), now.month(), now.year(), now.hour(), now.minute());

ShowDateDisplay();

delay(500); //delay for a while to avoid multiple 'add' operations

}

else if (MinusBox.TouchHit(Dp.x, Dp.y))

{

Serial.printf("Minus box touch at (%d,%d)\n", Dp.x, Dp.y);

Serial.printf("Old time is %d/%d/%d %d:%d\n", now.month(), now.day(), now.year(), now.hour(), now.minute());

new_day = now.day() - 1;

new_day = (new_day <= 0) ? aDaysInMonth[now.month() - 1] : new_day;

newtime = DateTime(now.year(), now.month(), new_day, now.hour(), now.minute(), now.second());

Serial.printf("New time is %d/%d/%d %d:%d\n", newtime.month(), newtime.day(), newtime.year(), newtime.hour(), newtime.minute());

rtc.adjust(newtime);

now = rtc.now();

Serial.printf("RTC now set to %d/%d/%d %d:%d\n", now.day(), now.month(), now.year(), now.hour(), now.minute());

ShowDateDisplay();

delay(500); //delay for a while to avoid multiple 'add' operations

}

else if (NextBox.TouchHit(Dp.x, Dp.y))

{

//Serial.printf("Next box touch at (%d,%d)\n", Dp.x, Dp.y);

adjstate = ADJ_YEAR;

ShowHighlightBar(ADJ_YEAR);

delay(500); //prevent multiple NEXT transitions

}

break;

case ADJ_YEAR:

Serial.print("In AdjustTimeAndDate ADJ_YEAR case\n");

adjstate = ADJ_YEAR;

if (PlusBox.TouchHit(Dp.x, Dp.y))

{

Serial.printf("Plus box touch at (%d,%d)\n", Dp.x, Dp.y);

Serial.printf("Old time is %d/%d/%d %2d:%2d\n", now.month(), now.day(), now.year(), now.hour(), now.minute());

newtime = DateTime(now.year() + 1, now.month(), now.day(), now.hour(), now.minute(), now.second());

Serial.printf("New time is %d/%d/%d %2d:%2d\n", newtime.month(), newtime.day(), newtime.year(), newtime.hour(), newtime.minute());

rtc.adjust(newtime);

now = rtc.now();

Serial.printf("RTC now set to %d/%d/%d %2d:%2d\n", now.month(), now.day(), now.year(), now.hour(), now.minute());

ShowDateDisplay();

delay(500); //delay for a while to avoid multiple 'add' operations

}

else if (MinusBox.TouchHit(Dp.x, Dp.y))

{

Serial.printf("Minus box touch at (%d,%d)\n", Dp.x, Dp.y);

Serial.printf("Old time is %d/%d/%d %2d:%2d\n", now.month(), now.day(), now.year(), now.hour(), now.minute());

newtime = DateTime(now.year() - 1, now.month(), now.day(), now.hour(), now.minute(), now.second());

Serial.printf("New time is %d/%d/%d %2d:%2d\n", newtime.month(), newtime.day(), newtime.year(), newtime.hour(), newtime.minute());

rtc.adjust(newtime);

now = rtc.now();

Serial.printf("RTC now set to %d/%d/%d %d:%d\n", now.day(), now.month(), now.year(), now.hour(), now.minute());

ShowDateDisplay();

delay(500); //delay for a while to avoid multiple 'add' operations

}

else if (NextBox.TouchHit(Dp.x, Dp.y))

{

//Serial.printf("Next box touch at (%d,%d)\n", Dp.x, Dp.y);

adjstate = ADJ_MONTH;

ShowHighlightBar(ADJ_MONTH);

delay(500); //prevent multiple NEXT transitions

}

break;

default:

break;

}

//Serial.printf("AdjustTimeAndDate(%d, %d) returns %d\n", Dp.x, Dp.y, (int)adjstate);

return adjstate;

}

#pragma region Helper Functions

TS_Point GetTouchPointInDisplayCoords(TS_Point Tp)

{

//Purpose: Retrieve a touch point in display coordinate system

//Inputs:

// Rotation value

// Mapping values

// TS_Point from touch chip

//Outputs:

// TS_Point object containing touch (X,Y) in display coordinates

//Plan:

// Step1: Retrieve touch point from touch chip

// Step2: Map to display coordinates taking rotation into account

//Step1: Retrieve touch point from touch chip

//TS_Point Tp = ts.getPoint();

TS_Point Dp;

//Step2: Map to display coordinates taking rotation into account

#ifdef SCREEN_ORIENTATION_1

Dp.x = map(Tp.x, TS_MAXX, TS_MINX, 0, tft.width());

Dp.y = map(Tp.y, TS_MAXY, TS_MINY, 0, tft.height());

#else

#endif

////DEBUG!!

//Serial.printf(" GetTouchPointInDisplayCoords: %lu\t%d\t%d\t%d\t%d\t%d\n",

// millis(), Tp.x, Tp.y, Tp.z, Dp.x, Dp.y);

////DEBUG!!

return Dp;

}

void ShowAdjButtons()

{

Serial.printf("In ShowAdjButtons\n");

HideButtons();

//03/13/21 new centering feature works great!

NextBox.Draw(&tft, "NEXT", ILI9341_BLACK, Arial_20, true);

PlusBox.Draw(&tft, "+", ILI9341_BLACK, Arial_40, true);

MinusBox.Draw(&tft, "-", ILI9341_BLACK, Arial_40, true);

}

void HideButtons()

{

PlusBox.Draw(&tft, ILI9341_BLACK);

MinusBox.Draw(&tft, ILI9341_BLACK);

NextBox.Draw(&tft, ILI9341_BLACK);

}

void ShowNormalTimeDisplay()

{

//Serial.printf("In ShowNormalTimeDisplay\n");

now = rtc.now();

int hournum = now.hour();

//guard against 1259->1300 && 2359->0000 transitions

if (hournum > 12)

{

hournum -= 12;

}

else if (hournum == 0)

{

hournum += 12;

}

hournum = (hournum > 12) ? hournum - 12 : hournum;

tft.setCursor(0, 100);

TimeBox.Draw(&tft); //redraws black background

tft.setTextColor(ILI9341_RED);

tft.setFont(Arial_72);

tft.setCursor(160, 120, true);//try the text centering feature

tft.printf("%2d:%02d", hournum, now.minute());

}

void ShowLongTimeDisplay()

{

//Serial.printf("In ShowLongTimeDisplay\n");

now = rtc.now();

tft.setTextColor(ILI9341_RED);

tft.setCursor(160, 120, true);//try the text centering feature

tft.setFont(Arial_60);

TimeBox.Draw(&tft); //redraws black background

int hournum = now.hour();

//guard against 1259->1300 && 2359->0000 transitions

if (hournum > 12)

{

hournum -= 12;

}

else if (hournum == 0)

{

hournum += 12;

}

hournum = (hournum > 12) ? hournum - 12 : hournum;

tft.printf("%2d:%02d:%02d", hournum, now.minute(), now.second());

}

void ShowHighlightBar(AdjustmentState adjstate)

{

switch (adjstate)

{

case ADJ_NONE:

Serial.printf("ADJ_NONE case in ShowHighlightBox()\n");

HideHighlightBars();

break;

case ADJ_HOUR:

HideHighlightBars();

HourHighlightBox.Draw(&tft);

break;

case ADJ_MIN:

HideHighlightBars();

MinuteHighlightBox.Draw(&tft);

break;

case ADJ_SEC:

HideHighlightBars();

SecondHighlightBox.Draw(&tft);

break;

case ADJ_DAYOFWEEK:

break;

case ADJ_MONTH:

HideHighlightBars();

MonthHighlightBox.Draw(&tft);

break;

case ADJ_DAY:

HideHighlightBars();

DayHighlightBox.Draw(&tft);

break;

case ADJ_YEAR:

HideHighlightBars();

YearHighlightBox.Draw(&tft);

break;

default:

break;

}

void HideHighlightBars()

{

tft.fillRect(0, DATE_HIGHLIGHT_BOX_YLOC, ALL_DATE_HIGHLIGHT_BOX_WIDTH, DATE_HIGHLIGHT_BOX_HEIGHT, ILI9341_BLACK);

tft.fillRect(0, TIME_HIGHLIGHT_BOX_YLOC, ALL_TIME_HIGHLIGHT_BOX_WIDTH, TIME_HIGHLIGHT_BOX_HEIGHT, ILI9341_BLACK);

}

void ShowDateDisplay()

{

DateTime now = rtc.now();

DateBox.Draw(&tft);

tft.setTextColor(ILI9341_YELLOW);

tft.setCursor(0, 0);

//tft.setTextSize(3);

tft.setFont(Arial_28);

tft.printf("%s %02d/%02d/%02d\n",

daysOfTheWeek[now.dayOfTheWeek()], now.month(), now.day(), now.year());

}

int AdjustDayValue(int month, int day)

{

//Notes:

// 07/13/21 rev to handle negative day values

if (day > aDaysInMonth[month - 1])

{

Serial.printf("%d is greater than max days (%d) for this month - setting to 1\n", day, aDaysInMonth[month - 1]);

return 1;

}

//07/13/21 bugfix

else if (day <= 0)

{

int newdaynum = aDaysInMonth[month - 1];

Serial.printf("%d is <= 0: set to max days (%d) for this month\n", day, newdaynum);

return newdaynum;

}

else

{

return day;

}

#pragma endregion Helper Functions

And then the ‘CustomBox’ class file (no .cpp file – everything is in the .h file)

#pragma once

#ifndef _ILI9341_t3NH_	
#include <ILI9341_t3n.h>
#endif // !_ILI9341_t3NH_

class CustomBox
{
public:
	int x;
	int y;
private:
	int w;
	int h;
	int color;
public:
	CustomBox(int in_x, int in_y, int in_w, int in_h, int in_color);
	CustomBox(int in_w, int in_h, int in_color);
	void Draw(ILI9341_t3n* disp);
	void Draw(ILI9341_t3n* disp, char c, int txtcolor, int size);
	void Draw(ILI9341_t3n* disp, char c, int txtcolor, ILI9341_t3_font_t font, bool centered = false);
	void Draw(ILI9341_t3n* disp, String txt, int txtcolor, ILI9341_t3_font_t font, bool centered = false);
	void Draw(ILI9341_t3n* disp, String txt, int size);
	void Draw(ILI9341_t3n* disp, char* buff, int size);
	void Draw(ILI9341_t3n* disp, int color);
	bool TouchHit(int in_x, int in_y);
};


CustomBox::CustomBox(int in_w, int in_h, int in_color)
{
	x = 0;
	y = 0;
	w = in_w;
	h = in_h;
	color = in_color;
}

CustomBox::CustomBox(int in_x, int in_y, int in_w, int in_h, int in_color)
{
	x = in_x;
	y = in_y;
	w = in_w;
	h = in_h;
	color = in_color;
}

inline void CustomBox::Draw(ILI9341_t3n* disp)
{
	disp->fillRect(x, y, w, h, color);
}

inline void CustomBox::Draw(ILI9341_t3n* disp, char c, int txtcolor, ILI9341_t3_font_t font, bool centered)
{
	int txt_x = x;
	int txt_y = y;
	disp->setFont(font);
	if (centered)
	{
		txt_x = x + round((float)(w / 2.));
		txt_y = y + round((float)(h / 2.));
	}

	Serial.printf("txt cursor set to (%d,%d)\n", txt_x, txt_y);
	disp->fillRect(x, y, w, h, color);
	disp->setTextColor(txtcolor);
	disp->setCursor(txt_x, txt_y, centered);
	disp->print(c);
}

inline void CustomBox::Draw(ILI9341_t3n* disp, String txt, int txtcolor, ILI9341_t3_font_t font, bool centered)
{
	int txt_x = x;
	int txt_y = y;
	disp->setFont(font);
	if (centered)
	{
		txt_x = x + round((float)(w / 2.));
		txt_y = y + round((float)(h / 2.));
	}

	//Serial.printf("txt cursor set to (%d,%d)\n", txt_x, txt_y);
	disp->fillRect(x, y, w, h, color);
	disp->setTextColor(txtcolor);
	disp->setCursor(txt_x, txt_y, centered);
	disp->print(txt);
}


//class CustomBoxWithText :CustomBox
//{
//private:
//	char boxtext[6];
//public:
//	CustomBoxWithText(int in_x, int in_y, int in_w, int in_h, int in_color, char* txt);
//};
//
//
//CustomBox::CustomBox(int in_x, int in_y, int in_w, int in_h, int in_color)
//{
//	x = in_x;
//	y = in_y;
//	w = in_w;
//	h = in_h;
//	color = in_color;
//}

inline void CustomBox::Draw(ILI9341_t3n* disp, char c, int txtcolor, int size = 0)
{
	disp->fillRect(x, y, w, h, color);
	if (size==0)
	{
		size = round((float)h / 10.);
	}
	int char_x = x + round((float)w / 4.);
	//int char_x = x;
	disp->setCursor(char_x, y+size);
	disp->setTextSize(size);
	disp->setTextColor(txtcolor);
	disp->print(c);
}

inline void CustomBox::Draw(ILI9341_t3n* disp, String txt, int size)
{
	disp->fillRect(x, y, w, h, color);
	disp->setCursor(x, y);
	disp->setTextSize(size);
	disp->print(txt);
}

inline void CustomBox::Draw(ILI9341_t3n* disp, char* buff, int size)
{
	Serial.printf("In Draw() with buff = %s\n", buff);
	disp->fillRect(x, y, w, h, color);
	//disp->setCursor(x, y);
	disp->setTextSize(size);
	//disp->setTextDatum(MC_DATUM);
	//disp->drawString1(buff, strlen(buff), x, y);
	disp->drawString(buff, strlen(buff), x, y); //03/09/21 in latest library version drawString1 was made into an overload of drawString
}

inline void CustomBox::Draw(ILI9341_t3n* disp, int newcolor)
{
	disp->fillRect(x, y, w, h, newcolor);
}

inline bool CustomBox::TouchHit(int in_x, int in_y)
{
	//Purpose:  Determine if input coordinates are within a specified box
	//Inputs:
	//  in_x, in_y = integers denoting mapped touch coordinates
	//  box location & dimensions
	//Outputs:
	//  true if (in_x, in_y) falls within box region.  Othewise, false

	//Serial.printf("TouchHit(%d,%d), box (x,y,w,h) = (%d,%d,%d,%d)\n",
	//	in_x, in_y, x, y, w, h);

	return (in_x > x && in_y > y && in_x < x + w && in_y < y + h);
}

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#pragma once

#ifndef _ILI9341_t3NH_

#include <ILI9341_t3n.h>

#endif // !_ILI9341_t3NH_

class CustomBox

{

public:

int x;

int y;

private:

int w;

int h;

int color;

public:

CustomBox(int in_x, int in_y, int in_w, int in_h, int in_color);

CustomBox(int in_w, int in_h, int in_color);

void Draw(ILI9341_t3n* disp);

void Draw(ILI9341_t3n* disp, char c, int txtcolor, int size);

void Draw(ILI9341_t3n* disp, char c, int txtcolor, ILI9341_t3_font_t font, bool centered = false);

void Draw(ILI9341_t3n* disp, String txt, int txtcolor, ILI9341_t3_font_t font, bool centered = false);

void Draw(ILI9341_t3n* disp, String txt, int size);

void Draw(ILI9341_t3n* disp, char* buff, int size);

void Draw(ILI9341_t3n* disp, int color);

bool TouchHit(int in_x, int in_y);

};

CustomBox::CustomBox(int in_w, int in_h, int in_color)

{

x = 0;

y = 0;

w = in_w;

h = in_h;

color = in_color;

}

CustomBox::CustomBox(int in_x, int in_y, int in_w, int in_h, int in_color)

{

x = in_x;

y = in_y;

w = in_w;

h = in_h;

color = in_color;

}

inline void CustomBox::Draw(ILI9341_t3n* disp)

{

disp->fillRect(x, y, w, h, color);

}

inline void CustomBox::Draw(ILI9341_t3n* disp, char c, int txtcolor, ILI9341_t3_font_t font, bool centered)

{

int txt_x = x;

int txt_y = y;

disp->setFont(font);

if (centered)

{

txt_x = x + round((float)(w / 2.));

txt_y = y + round((float)(h / 2.));

}

Serial.printf("txt cursor set to (%d,%d)\n", txt_x, txt_y);

disp->fillRect(x, y, w, h, color);

disp->setTextColor(txtcolor);

disp->setCursor(txt_x, txt_y, centered);

disp->print(c);

}

inline void CustomBox::Draw(ILI9341_t3n* disp, String txt, int txtcolor, ILI9341_t3_font_t font, bool centered)

{

int txt_x = x;

int txt_y = y;

disp->setFont(font);

if (centered)

{

txt_x = x + round((float)(w / 2.));

txt_y = y + round((float)(h / 2.));

}

//Serial.printf("txt cursor set to (%d,%d)\n", txt_x, txt_y);

disp->fillRect(x, y, w, h, color);

disp->setTextColor(txtcolor);

disp->setCursor(txt_x, txt_y, centered);

disp->print(txt);

}

//class CustomBoxWithText :CustomBox

//{

//private:

// char boxtext[6];

//public:

// CustomBoxWithText(int in_x, int in_y, int in_w, int in_h, int in_color, char* txt);

//};

//CustomBox::CustomBox(int in_x, int in_y, int in_w, int in_h, int in_color)

//{

// x = in_x;

// y = in_y;

// w = in_w;

// h = in_h;

// color = in_color;

//}

inline void CustomBox::Draw(ILI9341_t3n* disp, char c, int txtcolor, int size = 0)

{

disp->fillRect(x, y, w, h, color);

if (size==0)

{

size = round((float)h / 10.);

}

int char_x = x + round((float)w / 4.);

//int char_x = x;

disp->setCursor(char_x, y+size);

disp->setTextSize(size);

disp->setTextColor(txtcolor);

disp->print(c);

}

inline void CustomBox::Draw(ILI9341_t3n* disp, String txt, int size)

{

disp->fillRect(x, y, w, h, color);

disp->setCursor(x, y);

disp->setTextSize(size);

disp->print(txt);

}

inline void CustomBox::Draw(ILI9341_t3n* disp, char* buff, int size)

{

Serial.printf("In Draw() with buff = %s\n", buff);

disp->fillRect(x, y, w, h, color);

//disp->setCursor(x, y);

disp->setTextSize(size);

//disp->setTextDatum(MC_DATUM);

//disp->drawString1(buff, strlen(buff), x, y);

disp->drawString(buff, strlen(buff), x, y); //03/09/21 in latest library version drawString1 was made into an overload of drawString

}

inline void CustomBox::Draw(ILI9341_t3n* disp, int newcolor)

{

disp->fillRect(x, y, w, h, newcolor);

}

inline bool CustomBox::TouchHit(int in_x, int in_y)

{

//Purpose: Determine if input coordinates are within a specified box

//Inputs:

// in_x, in_y = integers denoting mapped touch coordinates

// box location & dimensions

//Outputs:

// true if (in_x, in_y) falls within box region. Othewise, false

//Serial.printf("TouchHit(%d,%d), box (x,y,w,h) = (%d,%d,%d,%d)\n",

// in_x, in_y, x, y, w, h);

return (in_x > x && in_y > y && in_x < x + w && in_y < y + h);

}

Stay tuned,

Frank

Wall Tracking Trials Using Office ‘Sandbox’ Part II

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Posted 24 January 2021,

Back in November of 2020, I posted about some wall-tracking exercises using my Office ‘sandbox’. Since then I have done some work on the charging station to make it more robust, and on Wall-E2’s ability to home in on and connect to the charging station. The following short video shows Wall-E2 making a complete circuit of the sandbox, ending with a homing run and connection to the charging station.

Wall-E2 makes a complete circuit of the ‘sandbox’, ending up connected to the charging station.

I plan to do quite a bit more work on the charging station homing algorithm, in particular how Wall-E2 reacts when it gets stuck trying to connect (which happens with somewhat disconcerting regularity).

Stay Tuned!

Frank

Wall-E2 Charging Station Update

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Posted 17 January 2021,

While doing some ‘local sandbox’ testing with Wall-E2, I noticed that the charging station transmitter was occasionally going offline, even though I hadn’t done anything. After a while I was able to confirm that it simply shut down at some point, for some unknown reason.

After troubleshooting the problem for a bit, I came to realize that the shutdowns were being caused by the NTE960 5V LDO regulator going into over-temp shutdown. Here’s the circuit diagram for the charging station, with the NTE960 highlighted:

After puzzling over this for a bit, I realized why the regulator was going into thermal shutdown. I had stupidly routed the IR LED current through the regulator, so the regulator instead of supplying just the current to the Teensy processor, also had to handle the approximately 1A pulsed IR LED current — oops!

In my defense, this wasn’t actually as stupid as it looks now; the original system design used a 5V power supply to both charge the robot’s battery pack and run the Teensy, so there was no need for a regulator in the system. Later on, the system design changed to use the TP5100 charger, so now the charging station had to supply 12V to the TP5100 and 5V to the Teensy. Adding the 12V supply and the regulator was a non-trivial change to the existing charging station layout, and it just turned out to be MUCH easier to simply place the regulator in-line with the existing +5V power connection, which incidentally also powered the IR LED stack. This worked fine, until I started doing longer runs in my sandbox, giving the regulator more time to heat up and go into thermal overload – oops again.

So, what to do? Well, the obvious answer was to power the IR LED stack directly from 12V. This wouldn’t change the power budget for the 12V supply at all, but would dramatically reduce the power handling requirement for the regulator. However, the current 5Ω 5W current limiting resistor would have to be changed to a 10Ω 10W resistor as it would now be dropping 10V instead of 5V, at the same current. In addition, the current setup had the voltage regulator on a separate terminal strip on one side of the charging station and the IR LED modulation circuit on the other, as shown below.

Teensy 3.2 and IR LED modulation circuitry on left, 12-to-5V regulator on the right

Rather than split the two again, I decided to see if I could put all the circuitry on the left side, next to the Teensy. To do this, I started with two Bakelite terminal strips. In case you aren’t more than about 50 years old, you probably have never seen real Bakelite terminal strips, but they are perfect for this sort of thing. I got mine from a company that specializes in antique electronic items. Here’s a photo of the two-strip layout I devised to accommodate both the regulator and the IR LED modulation circuitry.

Two terminal strips ganged together to accommodate the regulator and the modulation circuitry

First I revised the circuit to bypass the 5V regulator for everything but the Teensy processor, and changed the current limiting resister from 5Ω to 10Ω. When I tested this, everything worked OK, except when I disconnected the modulation signal output from the Teensy to the modulation circuit. To my horror, the IR LED stayed ON! The input to the base of the 2N3904 was pulled low by the 10K pulldown resistor, turning it OFF, which turned the IRF520 MOSFET ON – oops! This was a problem with the original circuit – I had just never noticed it before. This is not a particularly disastrous situation, as the 12V power supply can handle the current, as can the MOSFET and the IR LED’s. However, it just isn’t very good engineering, so I decided to change the 10K resistor to be a pullup rather than a pulldown. As it turns out, this works fine, except now I couldn’t turn the IR LEDs on at all! Some more head-scratching and I figured out that in the pullup configuration, I had formed a voltage divider with the 1K current limiting resistor from the Teensy, and now the LOW signal from the Teensy was being converted to a (mostly) HIGH signal by the voltage divider. Changing the 10K to 100K solved this problem, and now the IR LEDs stay OFF when the modulation is disconnected, and operates properly when the modulation signal is present – YAY! One last ‘gotcha’; when operating from my lab power supply, the Teensy had a tendency to reset when the circuit first went to full load. I cured this with the addition of a 680 uF cap on the +5V line (actually I found that 10 uF would do, but I had more of the 680’s floating around, so…

Here are some photos showing the modified regulation/modulation control circuit

And a scope photo showing the input modulation (yellow) and the IR LED cathode voltage (green), along with the power supply voltage, current, and power values

Input modulation (yellow), IR LED cathode voltage (green), and Power supply output voltage, current and power

Hopefully this will completely solve the intermittent shutdown problem I was seeing in my sandbox trials – we’ll see!

20 January 2021 Update:

After getting everything running, I set up an experiment with a spare IR sensor mounted about 20cm away from the IR flashlight emitter. As shown below, the scope trace in the background is from the IR transistor on the left, in response to the 520Hz square wave transmitted over the IR path from the charging station. Once I got it set up, I let it run most of the afternoon and overnight. The next morning after almost 24 hours, the setup was chugging along beautifully – YAY!

Scope trace shows IR signal received by IR transistor on left. IR Flashlight and charging station electronics shown on right

28 December 2021 Update:

In the process of bringing up my new Wall-E3 robot, I was testing the IR homing module, and discovered that it wasn’t acting correctly – the values being read from the IR homing module were basically zero, even with the charging station IR transmitter less than one meter away. Troubleshooting, I found that the IR transmitter wasn’t transmitting correctly, which I finally tracked down to a (probably) misplaced connection to the Teensy 3.2 waveform generator. However, in the process of doing that, I also discovered that the driving waveform to the IR emitter had a big spike on one transition, which if not really a system problem, sure looked unprofessional.

So, I started looking at the IR transmit module schematic, and decided it could use some TLC. One problem that leapt out at me was the 01/17/21 mod to force the IR transmitter OFF if the connection to the Teensy was lost. This mod involves a 100K resistor pullup to +12V, which, if the 2N3904 transistor base failed ‘OPEN’ would mean putting +12V into the Teensy – probably not a good thing! So, I changed the circuit to route the 100K pullup to +5V instead of +12V. This still works to force the 2N3904 output LOW, which in turn would force the IRF520 OFF. Teensy digital I/O pins are all 5V tolerant, so this is a much better deal.

Chasing around a bit regarding the big spike on the leading edge of the IR transmit pulse, I found that a 0.01 uF cap on the gate lead of the IRF520 did a nice job of killing the big spike, as shown in the photos below:

With these two modifications, the IR transmit block looks pretty solid. Here’s the updated schematic:

The way that I implemented the IR transmit hardware on two parallel terminal strips looks kind of ugly, so I decided to replace that with a perfboard setup and not think of barfing every time I look at it. Here’s the ‘before’

and here is the ‘after’

While I was in the neighborhood, I also decided to modify the IR Beacon transmit code to force all unused Teensy GPIO pins to a known HIGH or LOW state in setup(). This is something I learned about just recently in the Teensy forum, and it sounds like a good idea. I think I’ll write a ‘InitAllGPIOPins()’ function that sets ALL pins to a known state, and follow it with just the necessary changes for functionality. From now on, I plan to do this with all my Teensy projects.

Stay tuned,

Frank

MakerGear MK3-ID BuildTak FlexPlate System Installation

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I’ve had my MakerGear MK3-ID for a year or so now, along with a Prusa MK3S. The Prusa MK3S with it’s removable flexible build plate is my ‘go to’ printer for almost everything that can be done with a single extruder. The flexible build plate is wonderful – it makes printing so much easier. Fortunately there is now a comparable option for the MakerGear M3-ID – BuildTak’s 8×10 FlexPlate System. I was able to find the correct size system for my M3-IE at Partsbuilt 3D and it arrived in just a few days (unfortunately with Ohio state tax applied as both the company and I are in the same state). This system makes a HUGE improvement in the ease of printing with the M3-ID, and consequently make it a much more appealing alternative to printing everything on my Prusa. Here’s a photo of the FlexPlate base on my M3-ID.

However, there were a few ‘gotcha’s’ during the installation, necessitating some modifications to the M3-ID.

The stock M3-ID comes with a 4mm glass build plate, mounted on top of the heating element, and held down with screw-down rotating clamps at each corner . There’s no need to keep the glass build plate with the BuildTak FlexPlate system, but the resulting 4mm gap means that the stock clamps will no longer hold the build plate down firmly (or at all, for that matter).
The FlexPlate system consists of a mounting plate with a number of embedded magnets that is affixed to the flat heating plate with an adhesive film, and a flexible steel build plate onto which the actual build surface (either a BuildTak or PEI sheet) is adhered. The steel build plate attaches magnetically to the mounting plate, and can be easily removed and flexed to pop the print off, a la the Prusa MKS system. However, it turns out that while the mounting plate with embedded magnets mounts quite nicely on the heated base, the 8×10″ steel build plate is just a smidge too large in both dimensions for easy mounting/dismounting. It tends to overhang in one or both dimensions, meaning that one corner rests atop its corner hold-down block, and then the plate isn’t quite flat. This problem could easily be fixed if the steel build plate was just a few millimeters smaller in both dimensions.
The Prusa MK3S has a simple and elegant way of achieving excellent physical registration of the flexible build plate when it is placed onto the printer. There are two small protruding posts (3 or 4mm screws, actually) at the rear of the print area, and the flexible plate is notched so that when it is placed against the screws, it lines up perfectly every time. There is no such physical registration feature on the M3-ID, so getting the plate down correctly so it isn’t overlapping one of the corner pieces is a bit of a PITA

So, I needed to make a couple of modifications to the M3-ID corner hold-down system. The idea was to make the build plate fit without binding, and to achieve better physical registration of the build plate when it is re-installed onto the M3-ID after popping off a print.

The first thing I did was simply place a couple of 3mm hex nuts under the hold-down clamp foot at each corner, filling the gap left by the 4mm glass build plate, as shown below.

2ea 3mm hex nuts under the hold-down clamp foot, replacing the thickness of the removed glass build plate

This worked – sorta – but it wasn’t very elegant and didn’t address the other issues, i.e. the flex plate interference, and the problem of physical registration. So, I started designing some alternate hold-down clamp and corner pieces to do a better job. The first effort was a modifed hold-down clamp, as shown below:

Modified hold-down clamp requires only 1ea 3mm hex nut spacer

The thing I love about 3D printing is that you can iterate through several designs rapidly and learning from each version. I usually go through half a dozen versions before getting where I want to go, but it is so cheap and fast that doing it this way is MUCH faster than trying to do a ‘moon-shot’ on-off solution (which generally doesn’t work anyway, due to some unknown unknown).

So, back to the drawing board (TinkerCad) and some more designs. I started with designs to replace the stock corner blocks, and after six revs, had the following final design

MakerGear M3-ID replacement corner blocks – V6A & B are left/right mirror images

and the final design for the hold-down clamp:

*MakerGear M3-ID replacement hold-down clamps – left/right mirror images*

Both the corner blocks and hold-down clamps were printed with left/right mirror images to match the mirror-image corner requirement.

After getting all the final versions printed up, I installed everything on the M3-ID, as shown below:

Here’s a short video showing me placing the flexplate onto the magnetic base, using the rear corner blocks for physical registration.

Me placing the BuildTak build plate onto the magnetic base

I’ve already made a number of prints with this system (all the corner blocks – about a dozen by the time I was through) and I have to say it’s like night and day compared to the hassle with my stock M3-ID. If you have a MakerGear M3-ID, this is a must-have!

I created a Thingiverse ‘thing’ with the final designs for the corner block and hold-down clamps.

Stay tuned,

Frank

Dewalt DWS713 Miter Saw Dust Port Vacuum Hose Adaptor

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My wife got me this really cool Dewalt DWS713 miter saw for Christmas this year, and I have been having fun pimping it out a bit. In a previous post I described how I added a cut shadow line LED light and control box, and this post describes how I added a 3D-printed coupler from the saw’s sawdust exhaust port to a small vacuum I keep in the shop for small cleanup jobs.

My first attempt at a coupler was a straight piece that connected on one side to the exhaust port, and on the other side to the rigid end of the vacuum hose, as shown below:

Unfortunately, I had neglected to consider what was going to happen when I actually tried to use the saw. As soon as I released the downlock and raised the saw, the coupler snapped when the rigid part of the vacuum hose ran up against items on my bench behind the saw – oops!

So, I started over again. I found the TinkerCad ‘bent pipe’ shape generator, and made a few versions that incorporated 45-60 deg bends into the rigid portion of the vacuum hose, but all of these suffered from the same problem with physical interference and cracking when the saw was raised. After some more head-scratching, I discovered I could remove the rigid end of the vacuum hose, leaving just the flexible part. As shown below, this particular vacuum has a detachable end piece that fits inside the flexible hose

Flexible hose connector. Note circular ribs.

So, I decided that I could replace the rigid piece from the end of the vacuum hose with a short coupling piece to connect the sawdust exhaust port directly to the flexible hose. As I normally do with complex projects, I started by printing a test piece – just the portion that couples to the flexible vacuum hose, as shown below:

Short piece to test the flexible hose coupling geometry

Once I had the flexible hose coupling geometry nailed, I did the same thing with the other end, and then connected the two coupling ends with a ‘curved pipe’ shape from TinkerCad, resulting (after a number of revisions) in the piece shown below:

As can be seen in the above screenshot, the final working version was version 10. One of the more wonderful things about 3D printing is the ability to make and discard multiple revisions – all it costs is a little time and a bit of very cheap filament. No need to hyperventilate over mistakes – just throw it away and try again!

The next few photos show the finished coupler installed on the miter saw.

I had uploaded the previous straight-line coupler to Thingiverse here, and I edited it to provide the new design as well

Stay tuned!

Frank

Dewalt DWS713 Miter Saw Cut Line Shadow Mod

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My wife got me a brand-new Dewalt DWS713 Miter Saw for Christmas, and boy is it nice! Sure beats the heck out of my old plastic miter box, that’s for sure. After playing with it for a while and making some gorgeous cuts, I decided I wanted to try my hand at adding a cut line shadow modification.

After doing some web research, I found this post, of a guy who added a cut line shadow system to Bosch miter saw, and this Thingiverse design for a LED mounting shroud. So, I ordered an LED lamp similar to the one used in the video, and downloaded the Thingiverse shroud design so I could print one here on my 3D printer.

The LED lamp comes with a small cylindrical control module containing an ON/OFF switch and an AC/CD converter, as shown here

ON/OFF switch and AC/DC converter are housed in the magnetic base

As described in the video showing how to mount a cut line shadow LED to a Bosch miter saw, the gooseneck part of the LED lamp wasn’t long enough to allow full travel of the blade guard. So I cut the gooseneck away from the magnetic base, and fabricated a new housing for the AC/DC converter and (because I managed to screw up the original one) a new, larger ON/OFF switch.

3D printed enclosure for ON/OFF switch and AC/DC converter.

With the added length gained by replacing the original cylindrical enclosure, I was able to mount the LED at the front end of the blade housing and still allow full travel of the retractable blade guard. However, I discovered that I needed to reduce the height of the LED lamp housing slightly, to allow more clearance for the retractable blade guard travel, as shown

Here is a photo of the LED assembly temporarily attached to the miter saw, with the retractable blade guard removed

This temporary setup produced a nice cut line shadow as shown below

The photo below shows the completed assembly, with the gooseneck attached to the blade housing via a 3D-printed gooseneck retainer clip and two 3mm machine screws (the blade housing was drilled & tapped for 3mm), and the control housing mounted to the rear of the blade housing.

The final product seems to work fairly well, as demonstrated in the following photo

Here is a photo of the 3D-printed gooseneck retainer clip

I used hot glue to temporarily attach the clip to the blade housing, and then drilled through the clip and into the housing with a 3mm tap drill. Then I removed the clip, tapped the housing for a 3mm screw, and then re-drilled the clip for a 3mm clearance hole, then re-assembled using 2ea 3mm x 6mm machine screws.

Here is a screenshot showing the rounded-corner enclosure I designed to hold the ON/OFF switch and the AC/DC converter

Because I managed to screw up the original ON/OFF switch, I used this switch I had in my parts bin, from an earlier project

All the 3-D printable parts are on Thingiverse here.

27 October 2021 Update:

While changing blades the other day, I noticed that the front LED lamp holder had come loose from the top of the blade guard – the hot glue attachment of the holder had detached from the metal. So, I printed up a new lamp holder with longer sides and this time attached it with 3mm screws to 3mm tapped holes in the blade guard, as shown in the following photo:

New front LED lamp hold, this time attached with two 3mm screws

Basketball Shot Make/Miss Recorder

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Posted 27 November 2020

After my recent right shoulder surgery, I have been looking for ways to get back into BBall shooting practice. However, the combination of Covid-19 lockdowns and the oncoming winter weather has drastically reduced my options for shooting practice. Not to be dissuaded from BBall practice, I figured out a way of moving my practice area from my driveway outside the garage inside the garage. As it turns out, our earth-sheltered house boasts an attached earth-sheltered two-car garage with a 12′ interior ceiling and no vertical support beams (I insisted on this in the design, and paid the extra cost, knowing from prior experience that interior support columns in a two-car garage was a bad thing.

Still not quite perfect, as even a 12′ ceiling isn’t quite enough room for a 10′ high BBall rim and enough headroom for practical shooting practice. So, I decided to mount my new practice rim at 9′ vs 10′, leaving 3′ of headroom. Obviously this isn’t ideal, but I figured a lot of practice on a 9′ rim was much better than no practice on a 10′ rim ;-).

As I started to shoot in my new practice gym, I realized I also now needed a way to record hits and misses so I could keep a running ‘made shots’ percentage. My short-term memory degradation due to being an old fart has made it almost impossible to do this in my head, and besides, what could be better than being able to combine my love of BBall, my love of programming, and my love for hardware/software projects? That’s at least a trifecta if not a quadfecta (and that is actually a word!). So, I programmed up a Windows program in C# to display ‘Hits’, ‘Attempts’, and ‘Hit Percentage’, and used an Arduino microcontroller to interface to two push-buttons – one for a hit, and the other for a miss. The arduino talks to the Windows program via a serial port over the USB cable, and the Windows program displays everything in a readily visible way. My idea was to use foot switches for the input so it would be easy to provided the needed hit/miss inputs without having to break out of a shooting rhythm. So, I jumped up on Thingiverse and found a neat, rugged footswitch by ‘vandenmar’. I needed two switches, so I modified vandenmar’s design by adding an additional cable routing trench out to the other side of the switch (so the switch cable can be routed in from the left or right-hand side of the switch).

My very own indoor basketball court (with a few minor restrictions…)

Nice, rugged footswitch design by vandenmar on Thingiverse

The 12 mm switch used here is available from Adafruit

Here’s a photo of the Arduino switch contoller

After getting all the pieces together, this is how it looks in my garage. The red footswitch is for ‘makes’ and the blue one is for ‘misses’.

red/blue footswitches, with cable to UNO and laptop in the background

This setup worked pretty well, but it still wasn’t quite ready for prime time. The UNO & breadboard were, well, breadboards, and not very mechanically robust. I was afraid I would spend more time repairing the breadboard than I would actually shooting, so I decided I needed to move from a breadboard to a more finished project. In addition, the Windows program I was using to display stats needed some work, so both sides (Windows and Arduino) needed some TLC.

I happened to have a Sparkfun Pro Micro module laying around in my parts bin, so I decided I would change out the UNO for the much smaller Pro Micro. With only two pushbutton switches and a Red/Green LED, the Pro Micro has plenty of I/O for the project. Here’s the Pro Micro version of the hardware layout.

So then I opened up my trusty Open SCAD ’rounded box with lid’ script and printed up a translucent enclosure, shown below

Sparkfun Pro Micro translucent enclosure. Photo above shows the ‘Make’ green LED illuminated

Next I updated the Windows program to show Makes, Misses, Percentage makes, and number of shots made in a row, along with the longest run of made shots for this session, as shown below

And here is the ‘final’ setup in my garage:

The two footswitches are shown at bottom left, with the Pro Micro enclosure hanging down from the laptop.

Here’s the schematic for the Sparkfun Pro Micro setup

And here is a short video showing the system in action.

At 0:43 into the above video you can see the green ‘Make’ LED illuminate in the background when I pressed the red ‘Make’ footswitch, and at 1:25 you can see me pressing the blue ‘Miss’ footswitch.

Stay tuned!

Frank

Solving the Teensy VL53L0X Array Controller Reset Problem

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Posted 16 November 2020

Back in May of this year, I converted Wall-E2, my autonomous wall-following robot, from using HC-SR04 ultrasonic ‘ping’ sensors to VL53L0X infrared time-of-flight sensors for left & right (and now rear) distance measurement and obstacle detection, as described in this and follow-on posts. Since then, I have been successfully integrating the new sensing capability into Wall-E2’s wall-tracking and obstacle avoidance algorithms, as described in this post among others.

In recent ‘sandbox’ runs, however, I started to notice that the VL53L0X controller (a Teensy 3.5) wasn’t always providing proper distance measurements. Sometimes it would return ‘-1’ for some or all seven measurements. Eventually I figured out that the problem only occurred when I restarted the main controller via the wireless serial connection; when I restarted by cycling the power, VL53L0X measurements were always proper. After looking into this a bit, I realized that the problem occurred because the VL53L0X array controller wasn’t being restarted when the main controller was, except when everything was power cycled.

So, I needed a way to ensure that the VL53L0X array controller got restarted, even with a serial-port reset of the main controller. The Teensy 3.5 actually has a RESET function exposed on a pin pad (although internal to the PCB, not on the periphery) so I added a pin to this pad, and connected it to the wire formerly used as the ‘left ping’ control line. Then I modified the setup code to pull this line LOW for a few 10’s of milliseconds and then back HIGH again, to restart the Teensy.

To test the modification, I modified the main controller code to send a HIGH to an unused digital pin as the first instruction in setup() and set that pin back LOW again as the last instruction. Immediately after setting this pin high, the RESET signal is sent to the Teensy. The Teensy program was modified to set an unused pin HIGH at the start of it’s setup() program, and LOW at the end. By monitoring these two pins with my wondrous Hanmatek DOS1102 DSO (see below) I was able to definitively confirm that the Teensy restarts every time the main controller does – yay!

Yellow trace is main controller setup() timing, blue is Teensy VL53L0X array controller setup() timing

In the above scope photo, the horizontal scale is 1 sec/div. The yellow trace shows the main controller setup() function timing, and the blue is the Teensy VL53L0X array controller setup() function timing. The Teensy gets reset about 500 mSec after the main controller setup() function starts, and it ends about 5.5 Sec later, about 500 mSec before the main controller setup() function ends. The relative timing shown above is the same whether the main controller is restarted via a power switch cycle or a serial port re-open restart.

Stay Tuned,

Frank

Wall Tracking Trials Using Office ‘Sandbox’ Part I

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Posted 12 November 2020

Back in October I added a TIMER5 timer interrupt to my autonomous wall-following robot (WAll-E2) code to manage sensor updates. Since then I have made the timer interrupt the sole timing source for all sensor and tracking updates, and upped the update rate from 5Hz to 10Hz. In addition, I’ve been making some improvements to Wall-E2’s obstacle detection/response abilities, and this post describes the results of these enhancements.

Wall-E2’s job is to autonomously track walls forever. This implies the ability not only track walls, but to deal with obstacles as they occur, and recharge its batteries at one or more provided charging stations as needed. Wall-tracking per se has been the subject of several previous posts, and is now reasonably well managed using the ‘find parallel’ technique described here. This post deals with the effort to detect and respond to obstacles as they occur. Here’s a recent run in my office ‘sandbox’

Initializing Left & Right Distance Arrays...
Left	Right
340	8190
329	8190
330	8190
In RotateToParallelOrientation(Left)
Parallel Orientation Achieved at 3453 with SteeringVal = 0.01

WallOffsetTrackPID Parameters (Kp,Ki,Kd) = (100,30,30)

Msec	LFront	LCtr	LRear	Front	FrontVar	Rear	Steer	Output	SetPt	LSpd	RSpd
3464	326	334	316	175	 4474.00	508	0.01	34.93	-0.30	40	109
3473	331	341	323	175	 4474.00	508	-0.01	34.93	-0.30	40	109
3554	329	342	326	172	 4286.29	8190	0.03	34.93	-0.30	40	109
3651	326	354	325	181	 4164.85	1192	-0.01	24.80	-0.30	50	99
3750	329	354	349	127	 4520.47	1114	-0.20	24.80	-0.30	50	99
3850	307	387	336	102	 5186.04	1197	-0.29	-75.00	-0.30	150	0
3946	306	342	361	96	 5933.30	1156	-0.55	-75.00	-0.30	150	0
4043	293	325	335	105	 6564.30	1272	-0.29	-2.29	-0.25	77	72
4141	282	310	305	139	 6862.29	8190	-0.23	-2.29	-0.10	77	72
4235	272	296	287	174	 6912.94	914	-0.19	8.02	0.04	66	83
4330	267	284	285	172	 6889.58	920	-0.18	8.02	0.16	66	83
4427	260	283	267	165	 6772.68	967	-0.06	16.33	0.17	58	91
4521	249	286	270	147	 6565.69	1069	-0.21	16.33	0.14	58	91
4620	248	277	268	134	 6196.07	1056	-0.20	-75.00	0.23	150	0
4717	238	261	248	133	 5544.52	1166	-0.10	-75.00	0.30	150	0
4812	230	243	249	126	 4582.67	1046	-0.19	-48.43	0.30	123	26
4910	220	243	236	122	 3231.83	974	-0.16	-48.43	0.30	123	26
5006	218	232	213	121	 1415.66	1029	0.05	43.82	0.30	31	118
5105	218	246	205	119	 1363.33	1169	0.13	43.82	0.30	31	118
5200	215	237	221	115	 1303.73	1136	-0.06	-73.26	0.30	148	1
5300	217	227	218	113	 1215.34	1190	-0.01	-21.19	0.30	96	53
5396	219	235	205	110	 1098.33	1228	0.14	-21.19	0.30	96	53
5491	228	244	215	106	  974.86	8190	0.19	43.48	0.30	31	118
5587	239	260	218	103	  868.73	8190	0.21	43.48	0.30	31	118
5688	244	254	235	97	  807.43	8190	0.09	-57.15	0.30	132	17
5783	253	268	246	94	  766.78	8190	0.07	-57.15	0.30	132	17
5882	260	260	246	92	  731.99	8190	0.14	-7.63	0.30	82	67
5982	282	278	257	88	  697.85	8190	0.25	-7.63	0.22	82	67
6081	287	279	256	85	  608.15	8190	0.30	50.64	0.21	24	125
6178	294	297	276	80	  664.40	8190	0.18	50.64	0.03	24	125
6277	316	305	287	77	  719.44	8190	0.11	-46.88	-0.05	121	28
6373	311	315	289	74	  774.14	8190	0.22	-46.88	-0.15	121	28
6471	311	334	292	73	  840.70	8190	0.25	75.00	-0.30	0	150
6569	327	344	311	68	  894.32	8190	0.16	75.00	-0.30	0	150
6670	340	348	308	62	  816.19	8190	0.32	75.00	-0.30	0	150
6772	342	360	333	54	  737.65	8190	0.09	-31.20	-0.30	106	43
6868	354	350	333	53	  657.72	8190	0.21	-31.20	-0.30	106	43
6967	338	358	326	51	  634.07	8190	0.12	51.06	-0.30	23	126
7063	346	368	333	50	  636.22	8190	0.13	51.06	-0.30	23	126
7161	334	346	345	44	  638.78	8190	-0.11	-49.37	-0.30	124	25
7260	334	371	333	39	  658.55	8190	0.01	-49.37	-0.30	124	25
7360	336	350	330	32	  693.11	8190	0.06	75.00	-0.30	0	150
7457	332	357	319	25	  732.13	8190	0.13	75.00	-0.30	0	150
7556	344	355	332	23	  757.01	8191	0.12	62.97	-0.30	12	137
bObstacleAhead TRUE in TRACKLEFT at 7656 with frontdist 18, variance = 787.12
In SpinTurn(CW, 90.00)
Msec	Hdg	pHdg	Rate	TRate	Spd
7751	6.06	1.38	52.1	20.0	87
7848	1.23	6.06	51.0	20.0	50
7947	-5.41	1.23	68.5	20.0	50
8045	-12.14	-5.41	70.7	20.0	50
8144	-17.56	-12.14	55.5	20.0	50
8244	-21.25	-17.56	38.0	20.0	50
8341	-23.40	-21.25	22.6	20.0	50
8438	-24.34	-23.40	9.9	20.0	90
8537	-25.11	-24.34	8.0	20.0	130
8636	-28.17	-25.11	31.4	20.0	90
8735	-35.01	-28.17	71.1	20.0	50
8835	-41.34	-35.01	65.0	20.0	50
8935	-44.53	-41.34	32.6	20.0	50
9036	-46.09	-44.53	15.8	20.0	90
9135	-47.11	-46.09	10.6	20.0	130
9233	-50.33	-47.11	33.3	20.0	90
9333	-56.48	-50.33	63.0	20.0	50
Slowing down to 10.00 deg/sec at -56.48 deg
9430	-62.64	-56.48	65.1	10.0	50
9529	-65.95	-62.64	34.4	10.0	50
9626	-66.79	-65.95	8.7	10.0	90
9723	-67.14	-66.79	3.7	10.0	130
9823	-68.64	-67.14	15.5	10.0	90
9919	-72.84	-68.64	44.8	10.0	50
10018	-76.92	-72.84	42.1	10.0	50
10116	-79.19	-76.92	23.8	10.0	50
10213	-79.30	-79.19	1.2	10.0	90
10313	-79.37	-79.30	0.7	10.0	130
10414	-80.87	-79.37	15.3	10.0	90
10417: Exiting SpinTurn() at -80.87 deg
In RotateToParallelOrientation(Left)
Parallel Orientation Achieved at 11293 with SteeringVal = 0.00

WallOffsetTrackPID Parameters (Kp,Ki,Kd) = (100,30,30)

Msec	LFront	LCtr	LRear	Front	FrontVar	Rear	Steer	Output	SetPt	LSpd	RSpd
11304	49	69	49	101	  808.15	574	0.00	-63.93	0.30	138	11
11313	45	66	46	101	  808.15	574	-0.01	-63.93	0.30	138	11
11395	44	64	47	109	  891.88	627	-0.03	-63.93	0.30	138	11
11492	43	65	43	162	 1291.60	673	0.00	-28.83	0.30	103	46
11591	47	100	44	216	 2143.29	728	0.03	-28.83	0.30	103	46
11689	47	70	81	94	 2055.42	758	-0.34	-75.00	0.30	150	0
11786	52	71	45	69	 1960.80	749	0.07	-75.00	0.30	150	0
11882	56	75	45	67	 1851.13	701	0.11	75.00	0.30	0	150
11979	63	76	43	63	 1762.12	489	0.20	75.00	0.30	0	150
12079	62	84	56	58	 1678.46	534	0.06	-41.04	0.30	116	33
12176	73	89	71	54	 1594.01	745	0.02	-41.04	0.30	116	33
12275	79	90	73	50	 1519.21	790	0.06	-26.76	0.30	101	48
12372	85	97	74	47	 1480.52	774	0.11	-26.76	0.30	101	48
12473	95	109	78	42	 1477.60	619	0.17	16.85	0.30	58	91
12569	108	113	87	35	 1515.29	570	0.21	16.85	0.30	58	91
12666	113	120	98	33	 1561.57	639	0.15	-24.60	0.30	99	50
Hit Wall Offset Limit (30 cm) at 1769472 with frontdist = 29, Setpoint = 0.00
In StepTurn(Tracking Left)
In SpinTurn(CW, 90.00)
Msec	Hdg	pHdg	Rate	TRate	Spd
12862	-109.12	-107.73	15.9	20.0	167
12961	-116.70	-109.12	78.1	20.0	127
13061	-127.75	-116.70	113.9	20.0	87
13158	-142.57	-127.75	155.6	20.0	50
13257	-155.69	-142.57	136.5	20.0	50
13355	-165.76	-155.69	106.5	20.0	50
Slowing down to 10.00 deg/sec at -165.76 deg
13453	-172.39	-165.76	69.2	10.0	50
13551	-176.13	-172.39	38.6	10.0	50
13650	-176.98	-176.13	8.9	10.0	90
13747	-177.02	-176.98	0.4	10.0	130
13845	-178.80	-177.02	18.5	10.0	90
13946	175.39	-178.80	3604.6	10.0	50
14041	169.71	175.39	61.9	10.0	50
14043: Exiting SpinTurn() at 169.71 deg
In RotateToParallelOrientation(Left)
Parallel Orientation Achieved at 14687 with SteeringVal = 0.01

WallOffsetTrackPID Parameters (Kp,Ki,Kd) = (100,30,30)

Msec	LFront	LCtr	LRear	Front	FrontVar	Rear	Steer	Output	SetPt	LSpd	RSpd
14698	191	208	190	251	10269.92	289	0.01	-75.00	0.30	150	0
14706	196	205	195	251	10269.92	289	-0.06	-75.00	0.30	150	0
14788	198	213	196	246	10313.22	355	0.02	-75.00	0.30	150	0
14884	207	219	198	240	10143.41	402	0.09	-2.10	0.30	77	72
14983	210	226	197	232	 9731.76	451	0.13	-2.10	0.30	77	72
15078	216	228	209	231	 9169.12	488	0.07	-34.79	0.30	109	40
15174	223	240	214	226	 8389.68	547	0.09	-34.79	0.30	109	40
15270	225	243	215	226	 7483.51	576	0.10	-17.39	0.30	92	57
15366	223	244	229	224	 6445.87	624	-0.06	-17.39	0.30	92	57
15462	228	245	232	221	 5279.39	657	-0.01	-71.32	0.30	146	3
15558	234	254	229	217	 4146.39	705	0.05	-71.32	0.30	146	3
15655	248	260	220	218	 3116.80	748	0.28	75.00	0.30	0	150
15749	272	266	238	218	 2207.54	794	0.34	75.00	0.30	0	150
15843	282	288	248	211	 1580.34	839	0.30	17.16	0.12	57	92
15938	293	287	264	200	 1231.91	877	0.29	17.16	0.13	57	92
16038	301	303	266	194	  947.68	895	0.27	15.06	-0.03	59	90
16137	304	307	281	192	  667.96	916	0.23	15.06	-0.07	59	90
16232	305	320	297	187	  675.37	984	0.08	-34.10	-0.20	109	40
16329	321	327	294	183	  719.94	1012	0.27	-34.10	-0.27	109	40
16429	326	344	301	181	  748.10	1030	0.25	75.00	-0.30	0	150
16525	328	345	318	175	  773.36	1061	0.10	75.00	-0.30	0	150
16623	340	350	323	171	  785.28	1139	0.17	20.96	-0.30	54	95
16719	344	351	327	165	  797.68	1142	0.17	20.96	-0.30	54	95
16820	355	364	357	161	  809.43	1160	-0.01	-26.17	-0.30	101	48
16914	356	372	351	157	  816.35	1215	0.05	-26.17	-0.30	101	48
17007	371	376	338	153	  826.46	1232	0.33	75.00	-0.30	0	150
17104	365	378	350	151	  828.07	1275	0.15	75.00	-0.30	0	150
17200	362	363	359	146	  837.66	8190	0.03	-55.29	-0.30	130	19
17295	360	371	353	143	  851.33	8190	0.07	-55.29	-0.30	130	19
17392	361	387	354	136	  892.80	8190	0.07	51.82	-0.30	23	126
17488	364	368	354	134	  916.39	8190	0.10	51.82	-0.30	23	126
17584	352	380	353	129	  948.67	8190	-0.01	8.69	-0.30	66	83
17680	349	368	360	128	  954.63	8190	-0.11	8.69	-0.30	66	83
17776	370	381	356	126	  945.54	8190	0.06	61.77	-0.30	13	136
17872	362	375	362	123	  929.23	8190	0.00	61.77	-0.30	13	136
17972	347	377	363	122	  903.09	8190	-0.04	1.55	-0.30	73	76
18070	348	395	372	122	  843.49	8190	-0.24	1.55	-0.30	73	76
18167	352	370	362	120	  760.07	8190	-0.17	-20.06	-0.30	95	54
18264	332	368	353	115	  694.64	8190	-0.21	-20.06	-0.30	95	54
18362	312	336	339	111	  661.03	8190	-0.20	7.24	-0.30	67	82
18460	297	323	327	105	  644.80	8190	-0.30	7.24	-0.23	67	82
18560	283	312	313	100	  627.13	8190	-0.28	-34.24	-0.12	109	40
18655	285	302	299	96	  615.78	8190	-0.14	-34.24	-0.02	109	40
18754	264	298	287	90	  613.99	8190	-0.19	11.13	0.02	63	86
18850	259	276	255	86	  606.39	8190	0.04	11.13	0.24	63	86
18950	252	284	259	84	  601.15	8190	-0.09	9.38	0.16	65	84
19046	240	280	260	81	  595.10	8190	-0.20	9.38	0.20	65	84
19144	238	252	248	78	  595.94	8190	-0.10	-39.82	0.30	114	35
19240	217	253	242	76	  593.76	8190	-0.13	-39.82	0.30	114	35
19338	218	246	230	71	  598.99	8190	-0.09	-33.99	0.30	108	41
19438	216	236	221	67	  608.08	8190	-0.10	-42.19	0.30	117	32
19535	205	225	214	61	  621.04	8190	-0.09	-42.19	0.30	117	32
19634	208	222	203	55	  647.83	8190	0.06	24.09	0.30	50	99
19733	208	221	203	50	  677.59	8190	0.05	24.09	0.30	50	99
19832	210	230	201	48	  711.95	8190	0.18	23.73	0.30	51	98
19932	224	232	214	45	  739.29	8190	0.10	-44.87	0.30	119	30
20032	224	231	213	40	  776.88	8190	0.10	-21.47	0.30	96	53
20130	228	235	210	37	  803.67	8190	0.18	-21.47	0.30	96	53
20231	240	244	216	32	  829.84	8190	0.15	-1.92	0.30	76	73
Hit Wall Offset Limit 20330 at 1835008 with frontdist = -26214, Setpoint = 0.00
In StepTurn(Tracking Left)
In SpinTurn(CW, 90.00)
Msec	Hdg	pHdg	Rate	TRate	Spd
20427	170.01	171.69	18.9	20.0	167
20528	162.73	170.01	74.4	20.0	127
20628	149.44	162.73	136.8	20.0	87
20724	133.31	149.44	171.6	20.0	50
20824	118.14	133.31	156.0	20.0	50
20921	107.84	118.14	108.3	20.0	50
Slowing down to 10.00 deg/sec at 107.84 deg
21018	100.75	107.84	75.0	10.0	50
21114	96.88	100.75	41.2	10.0	50
21211	95.61	96.88	13.7	10.0	50
21304	95.40	95.61	2.2	10.0	90
21401	95.27	95.40	1.4	10.0	130
21500	92.77	95.27	26.0	10.0	90
21595	86.00	92.77	73.4	10.0	50
21597: Exiting SpinTurn() at 86.00 deg
In RotateToParallelOrientation(Left)
Parallel Orientation Achieved at 21983 with SteeringVal = -0.01

WallOffsetTrackPID Parameters (Kp,Ki,Kd) = (100,30,30)

Msec	LFront	LCtr	LRear	Front	FrontVar	Rear	Steer	Output	SetPt	LSpd	RSpd
21994	161	185	162	108	 5323.48	265	-0.01	-75.00	0.30	150	0
22002	164	182	160	108	 5323.48	265	0.05	-75.00	0.30	150	0
22086	166	184	159	78	 5270.27	295	0.07	-75.00	0.30	150	0
22184	175	185	165	58	 5243.36	352	0.10	9.55	0.30	65	84
22280	183	190	172	175	 5373.00	388	0.11	9.55	0.30	65	84
22375	197	204	176	91	 5247.15	436	0.21	20.28	0.30	54	95
22470	197	215	182	108	 5081.33	467	0.15	20.28	0.30	54	95
22564	207	226	189	151	 4952.56	518	0.18	-25.08	0.30	100	49
22663	218	233	204	52	 4842.48	555	0.14	-25.08	0.30	100	49
22761	236	245	213	141	 4580.68	601	0.18	-16.44	0.30	91	58
bObstacleAhead TRUE in TRACKLEFT at 22858 with frontdist 13, variance = 4694.59
In SpinTurn(CW, 90.00)
Msec	Hdg	pHdg	Rate	TRate	Spd
22952	71.13	73.50	26.9	20.0	87
23052	63.70	71.13	76.5	20.0	50
23147	54.57	63.70	98.3	20.0	50
23246	48.04	54.57	67.2	20.0	50
23343	43.69	48.04	46.2	20.0	50
23441	40.42	43.69	34.1	20.0	50
23540	38.54	40.42	19.5	20.0	90
23638	37.63	38.54	9.7	20.0	130
23734	34.63	37.63	31.7	20.0	90
23833	32.15	34.63	25.5	20.0	50
23931	30.65	32.15	15.7	20.0	90
24031	30.52	30.65	1.4	20.0	130
24127	29.88	30.52	6.8	20.0	170
24225	28.04	29.88	19.3	20.0	210
24324	24.16	28.04	40.3	20.0	170
24419	20.53	24.16	39.3	20.0	130
24515	11.17	20.53	98.9	20.0	90
Slowing down to 10.00 deg/sec at 11.17 deg
24611	0.33	11.17	115.7	10.0	50
24711	-8.59	0.33	92.5	10.0	50
24713: Exiting SpinTurn() at -8.59 deg
In RotateToParallelOrientation(Left)
Parallel Orientation Achieved at 27962 with SteeringVal = -79.86

WallOffsetTrackPID Parameters (Kp,Ki,Kd) = (100,30,30)

Msec	LFront	LCtr	LRear	Front	FrontVar	Rear	Steer	Output	SetPt	LSpd	RSpd
27973	313	8191	8190	230	   14.32	369	-78.77	-75.00	-0.30	150	0
bStuck TRUE in TRACKLEFT at 27981 with frontdist 230, variance =  14.32
---- ExecuteStuckRecoveryManeuver
Using front distance for backup with front/reardist  = 230/36
28059	231	369
28153	248	350
28249	250	327
28346	254	282
28443	255	232
finished backup with frontdist/reardist = 28444	 255/23
In SpinTurn(CW, 90.00)
Msec	Hdg	pHdg	Rate	TRate	Spd
30450	20.77	20.77	0.0	20.0	167
30543	19.58	20.77	13.1	20.0	207
30640	9.56	19.58	106.9	20.0	167
30736	-2.24	9.56	125.2	20.0	127
30830	-14.60	-2.24	134.4	20.0	87
30922	-22.53	-14.60	88.6	20.0	50
31019	-33.56	-22.53	118.1	20.0	50
Slowing down to 10.00 deg/sec at -33.56 deg
31117	-43.11	-33.56	99.6	10.0	50
31214	-49.46	-43.11	66.5	10.0	50
31310	-52.74	-49.46	35.0	10.0	50
31409	-53.79	-52.74	10.8	10.0	50
31510	-53.85	-53.79	0.6	10.0	90
31607	-54.34	-53.85	5.2	10.0	130
31704	-56.91	-54.34	27.5	10.0	90
31802	-62.72	-56.91	60.3	10.0	50
31805: Exiting SpinTurn() at -62.72 deg
Using front distance for fwd travel with front/reardist  = 62/34
33807	62	340
33862	61	329
33959	59	346
34058	57	354
34157	52	377
34254	49	434
34354	41	453
finished forward travel with frontdist/reardist = 41/45
In SpinTurn(CCW, 90.00)
Msec	Hdg	pHdg	Rate	TRate	Spd
36356	-64.92	-64.92	0.0	20.0	167
36419	-64.63	-64.92	4.8	20.0	207
36517	-56.67	-64.63	83.0	20.0	167
36616	-41.04	-56.67	163.3	20.0	127
36712	-25.33	-41.04	166.6	20.0	87
36808	-8.73	-25.33	177.6	20.0	50
Slowing down to 10.00 deg/sec at -8.73 deg
36902	7.93	-8.73	182.0	10.0	50
36998	19.87	7.93	128.6	10.0	50
37000: Exiting SpinTurn() at 19.87 deg
I received: 63
ENTERING COMMAND MODE:
0 = 180 deg CCW Turn
1 = 180 deg CW Turn
A = Back to Auto Mode
S = Stop
F = Forward
R = Reverse

       Faster
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Initializing Left & Right Distance Arrays...

Left Right

340 8190

329 8190

330 8190

In RotateToParallelOrientation(Left)

Parallel Orientation Achieved at 3453 with SteeringVal = 0.01

WallOffsetTrackPID Parameters (Kp,Ki,Kd) = (100,30,30)

Msec LFront LCtr LRear Front FrontVar Rear Steer Output SetPt LSpd RSpd

3464 326 334 316 175 4474.00 508 0.01 34.93 -0.30 40 109

3473 331 341 323 175 4474.00 508 -0.01 34.93 -0.30 40 109

3554 329 342 326 172 4286.29 8190 0.03 34.93 -0.30 40 109

3651 326 354 325 181 4164.85 1192 -0.01 24.80 -0.30 50 99

3750 329 354 349 127 4520.47 1114 -0.20 24.80 -0.30 50 99

3850 307 387 336 102 5186.04 1197 -0.29 -75.00 -0.30 150 0

3946 306 342 361 96 5933.30 1156 -0.55 -75.00 -0.30 150 0

4043 293 325 335 105 6564.30 1272 -0.29 -2.29 -0.25 77 72

4141 282 310 305 139 6862.29 8190 -0.23 -2.29 -0.10 77 72

4235 272 296 287 174 6912.94 914 -0.19 8.02 0.04 66 83

4330 267 284 285 172 6889.58 920 -0.18 8.02 0.16 66 83

4427 260 283 267 165 6772.68 967 -0.06 16.33 0.17 58 91

4521 249 286 270 147 6565.69 1069 -0.21 16.33 0.14 58 91

4620 248 277 268 134 6196.07 1056 -0.20 -75.00 0.23 150 0

4717 238 261 248 133 5544.52 1166 -0.10 -75.00 0.30 150 0

4812 230 243 249 126 4582.67 1046 -0.19 -48.43 0.30 123 26

4910 220 243 236 122 3231.83 974 -0.16 -48.43 0.30 123 26

5006 218 232 213 121 1415.66 1029 0.05 43.82 0.30 31 118

5105 218 246 205 119 1363.33 1169 0.13 43.82 0.30 31 118

5200 215 237 221 115 1303.73 1136 -0.06 -73.26 0.30 148 1

5300 217 227 218 113 1215.34 1190 -0.01 -21.19 0.30 96 53

5396 219 235 205 110 1098.33 1228 0.14 -21.19 0.30 96 53

5491 228 244 215 106 974.86 8190 0.19 43.48 0.30 31 118

5587 239 260 218 103 868.73 8190 0.21 43.48 0.30 31 118

5688 244 254 235 97 807.43 8190 0.09 -57.15 0.30 132 17

5783 253 268 246 94 766.78 8190 0.07 -57.15 0.30 132 17

5882 260 260 246 92 731.99 8190 0.14 -7.63 0.30 82 67

5982 282 278 257 88 697.85 8190 0.25 -7.63 0.22 82 67

6081 287 279 256 85 608.15 8190 0.30 50.64 0.21 24 125

6178 294 297 276 80 664.40 8190 0.18 50.64 0.03 24 125

6277 316 305 287 77 719.44 8190 0.11 -46.88 -0.05 121 28

6373 311 315 289 74 774.14 8190 0.22 -46.88 -0.15 121 28

6471 311 334 292 73 840.70 8190 0.25 75.00 -0.30 0 150

6569 327 344 311 68 894.32 8190 0.16 75.00 -0.30 0 150

6670 340 348 308 62 816.19 8190 0.32 75.00 -0.30 0 150

6772 342 360 333 54 737.65 8190 0.09 -31.20 -0.30 106 43

6868 354 350 333 53 657.72 8190 0.21 -31.20 -0.30 106 43

6967 338 358 326 51 634.07 8190 0.12 51.06 -0.30 23 126

7063 346 368 333 50 636.22 8190 0.13 51.06 -0.30 23 126

7161 334 346 345 44 638.78 8190 -0.11 -49.37 -0.30 124 25

7260 334 371 333 39 658.55 8190 0.01 -49.37 -0.30 124 25

7360 336 350 330 32 693.11 8190 0.06 75.00 -0.30 0 150

7457 332 357 319 25 732.13 8190 0.13 75.00 -0.30 0 150

7556 344 355 332 23 757.01 8191 0.12 62.97 -0.30 12 137

bObstacleAhead TRUE in TRACKLEFT at 7656 with frontdist 18, variance = 787.12

In SpinTurn(CW, 90.00)

Msec Hdg pHdg Rate TRate Spd

7751 6.06 1.38 52.1 20.0 87

7848 1.23 6.06 51.0 20.0 50

7947 -5.41 1.23 68.5 20.0 50

8045 -12.14 -5.41 70.7 20.0 50

8144 -17.56 -12.14 55.5 20.0 50

8244 -21.25 -17.56 38.0 20.0 50

8341 -23.40 -21.25 22.6 20.0 50

8438 -24.34 -23.40 9.9 20.0 90

8537 -25.11 -24.34 8.0 20.0 130

8636 -28.17 -25.11 31.4 20.0 90

8735 -35.01 -28.17 71.1 20.0 50

8835 -41.34 -35.01 65.0 20.0 50

8935 -44.53 -41.34 32.6 20.0 50

9036 -46.09 -44.53 15.8 20.0 90

9135 -47.11 -46.09 10.6 20.0 130

9233 -50.33 -47.11 33.3 20.0 90

9333 -56.48 -50.33 63.0 20.0 50

Slowing down to 10.00 deg/sec at -56.48 deg

9430 -62.64 -56.48 65.1 10.0 50

9529 -65.95 -62.64 34.4 10.0 50

9626 -66.79 -65.95 8.7 10.0 90

9723 -67.14 -66.79 3.7 10.0 130

9823 -68.64 -67.14 15.5 10.0 90

9919 -72.84 -68.64 44.8 10.0 50

10018 -76.92 -72.84 42.1 10.0 50

10116 -79.19 -76.92 23.8 10.0 50

10213 -79.30 -79.19 1.2 10.0 90

10313 -79.37 -79.30 0.7 10.0 130

10414 -80.87 -79.37 15.3 10.0 90

10417: Exiting SpinTurn() at -80.87 deg

In RotateToParallelOrientation(Left)

Parallel Orientation Achieved at 11293 with SteeringVal = 0.00

WallOffsetTrackPID Parameters (Kp,Ki,Kd) = (100,30,30)

Msec LFront LCtr LRear Front FrontVar Rear Steer Output SetPt LSpd RSpd

11304 49 69 49 101 808.15 574 0.00 -63.93 0.30 138 11

11313 45 66 46 101 808.15 574 -0.01 -63.93 0.30 138 11

11395 44 64 47 109 891.88 627 -0.03 -63.93 0.30 138 11

11492 43 65 43 162 1291.60 673 0.00 -28.83 0.30 103 46

11591 47 100 44 216 2143.29 728 0.03 -28.83 0.30 103 46

11689 47 70 81 94 2055.42 758 -0.34 -75.00 0.30 150 0

11786 52 71 45 69 1960.80 749 0.07 -75.00 0.30 150 0

11882 56 75 45 67 1851.13 701 0.11 75.00 0.30 0 150

11979 63 76 43 63 1762.12 489 0.20 75.00 0.30 0 150

12079 62 84 56 58 1678.46 534 0.06 -41.04 0.30 116 33

12176 73 89 71 54 1594.01 745 0.02 -41.04 0.30 116 33

12275 79 90 73 50 1519.21 790 0.06 -26.76 0.30 101 48

12372 85 97 74 47 1480.52 774 0.11 -26.76 0.30 101 48

12473 95 109 78 42 1477.60 619 0.17 16.85 0.30 58 91

12569 108 113 87 35 1515.29 570 0.21 16.85 0.30 58 91

12666 113 120 98 33 1561.57 639 0.15 -24.60 0.30 99 50

Hit Wall Offset Limit (30 cm) at 1769472 with frontdist = 29, Setpoint = 0.00

In StepTurn(Tracking Left)

In SpinTurn(CW, 90.00)

Msec Hdg pHdg Rate TRate Spd

12862 -109.12 -107.73 15.9 20.0 167

12961 -116.70 -109.12 78.1 20.0 127

13061 -127.75 -116.70 113.9 20.0 87

13158 -142.57 -127.75 155.6 20.0 50

13257 -155.69 -142.57 136.5 20.0 50

13355 -165.76 -155.69 106.5 20.0 50

Slowing down to 10.00 deg/sec at -165.76 deg

13453 -172.39 -165.76 69.2 10.0 50

13551 -176.13 -172.39 38.6 10.0 50

13650 -176.98 -176.13 8.9 10.0 90

13747 -177.02 -176.98 0.4 10.0 130

13845 -178.80 -177.02 18.5 10.0 90

13946 175.39 -178.80 3604.6 10.0 50

14041 169.71 175.39 61.9 10.0 50

14043: Exiting SpinTurn() at 169.71 deg

In RotateToParallelOrientation(Left)

Parallel Orientation Achieved at 14687 with SteeringVal = 0.01

WallOffsetTrackPID Parameters (Kp,Ki,Kd) = (100,30,30)

Msec LFront LCtr LRear Front FrontVar Rear Steer Output SetPt LSpd RSpd

14698 191 208 190 251 10269.92 289 0.01 -75.00 0.30 150 0

14706 196 205 195 251 10269.92 289 -0.06 -75.00 0.30 150 0

14788 198 213 196 246 10313.22 355 0.02 -75.00 0.30 150 0

14884 207 219 198 240 10143.41 402 0.09 -2.10 0.30 77 72

14983 210 226 197 232 9731.76 451 0.13 -2.10 0.30 77 72

15078 216 228 209 231 9169.12 488 0.07 -34.79 0.30 109 40

15174 223 240 214 226 8389.68 547 0.09 -34.79 0.30 109 40

15270 225 243 215 226 7483.51 576 0.10 -17.39 0.30 92 57

15366 223 244 229 224 6445.87 624 -0.06 -17.39 0.30 92 57

15462 228 245 232 221 5279.39 657 -0.01 -71.32 0.30 146 3

15558 234 254 229 217 4146.39 705 0.05 -71.32 0.30 146 3

15655 248 260 220 218 3116.80 748 0.28 75.00 0.30 0 150

15749 272 266 238 218 2207.54 794 0.34 75.00 0.30 0 150

15843 282 288 248 211 1580.34 839 0.30 17.16 0.12 57 92

15938 293 287 264 200 1231.91 877 0.29 17.16 0.13 57 92

16038 301 303 266 194 947.68 895 0.27 15.06 -0.03 59 90

16137 304 307 281 192 667.96 916 0.23 15.06 -0.07 59 90

16232 305 320 297 187 675.37 984 0.08 -34.10 -0.20 109 40

16329 321 327 294 183 719.94 1012 0.27 -34.10 -0.27 109 40

16429 326 344 301 181 748.10 1030 0.25 75.00 -0.30 0 150

16525 328 345 318 175 773.36 1061 0.10 75.00 -0.30 0 150

16623 340 350 323 171 785.28 1139 0.17 20.96 -0.30 54 95

16719 344 351 327 165 797.68 1142 0.17 20.96 -0.30 54 95

16820 355 364 357 161 809.43 1160 -0.01 -26.17 -0.30 101 48

16914 356 372 351 157 816.35 1215 0.05 -26.17 -0.30 101 48

17007 371 376 338 153 826.46 1232 0.33 75.00 -0.30 0 150

17104 365 378 350 151 828.07 1275 0.15 75.00 -0.30 0 150

17200 362 363 359 146 837.66 8190 0.03 -55.29 -0.30 130 19

17295 360 371 353 143 851.33 8190 0.07 -55.29 -0.30 130 19

17392 361 387 354 136 892.80 8190 0.07 51.82 -0.30 23 126

17488 364 368 354 134 916.39 8190 0.10 51.82 -0.30 23 126

17584 352 380 353 129 948.67 8190 -0.01 8.69 -0.30 66 83

17680 349 368 360 128 954.63 8190 -0.11 8.69 -0.30 66 83

17776 370 381 356 126 945.54 8190 0.06 61.77 -0.30 13 136

17872 362 375 362 123 929.23 8190 0.00 61.77 -0.30 13 136

17972 347 377 363 122 903.09 8190 -0.04 1.55 -0.30 73 76

18070 348 395 372 122 843.49 8190 -0.24 1.55 -0.30 73 76

18167 352 370 362 120 760.07 8190 -0.17 -20.06 -0.30 95 54

18264 332 368 353 115 694.64 8190 -0.21 -20.06 -0.30 95 54

18362 312 336 339 111 661.03 8190 -0.20 7.24 -0.30 67 82

18460 297 323 327 105 644.80 8190 -0.30 7.24 -0.23 67 82

18560 283 312 313 100 627.13 8190 -0.28 -34.24 -0.12 109 40

18655 285 302 299 96 615.78 8190 -0.14 -34.24 -0.02 109 40

18754 264 298 287 90 613.99 8190 -0.19 11.13 0.02 63 86

18850 259 276 255 86 606.39 8190 0.04 11.13 0.24 63 86

18950 252 284 259 84 601.15 8190 -0.09 9.38 0.16 65 84

19046 240 280 260 81 595.10 8190 -0.20 9.38 0.20 65 84

19144 238 252 248 78 595.94 8190 -0.10 -39.82 0.30 114 35

19240 217 253 242 76 593.76 8190 -0.13 -39.82 0.30 114 35

19338 218 246 230 71 598.99 8190 -0.09 -33.99 0.30 108 41

19438 216 236 221 67 608.08 8190 -0.10 -42.19 0.30 117 32

19535 205 225 214 61 621.04 8190 -0.09 -42.19 0.30 117 32

19634 208 222 203 55 647.83 8190 0.06 24.09 0.30 50 99

19733 208 221 203 50 677.59 8190 0.05 24.09 0.30 50 99

19832 210 230 201 48 711.95 8190 0.18 23.73 0.30 51 98

19932 224 232 214 45 739.29 8190 0.10 -44.87 0.30 119 30

20032 224 231 213 40 776.88 8190 0.10 -21.47 0.30 96 53

20130 228 235 210 37 803.67 8190 0.18 -21.47 0.30 96 53

20231 240 244 216 32 829.84 8190 0.15 -1.92 0.30 76 73

Hit Wall Offset Limit 20330 at 1835008 with frontdist = -26214, Setpoint = 0.00

In StepTurn(Tracking Left)

In SpinTurn(CW, 90.00)

Msec Hdg pHdg Rate TRate Spd

20427 170.01 171.69 18.9 20.0 167

20528 162.73 170.01 74.4 20.0 127

20628 149.44 162.73 136.8 20.0 87

20724 133.31 149.44 171.6 20.0 50

20824 118.14 133.31 156.0 20.0 50

20921 107.84 118.14 108.3 20.0 50

Slowing down to 10.00 deg/sec at 107.84 deg

21018 100.75 107.84 75.0 10.0 50

21114 96.88 100.75 41.2 10.0 50

21211 95.61 96.88 13.7 10.0 50

21304 95.40 95.61 2.2 10.0 90

21401 95.27 95.40 1.4 10.0 130

21500 92.77 95.27 26.0 10.0 90

21595 86.00 92.77 73.4 10.0 50

21597: Exiting SpinTurn() at 86.00 deg

In RotateToParallelOrientation(Left)

Parallel Orientation Achieved at 21983 with SteeringVal = -0.01

WallOffsetTrackPID Parameters (Kp,Ki,Kd) = (100,30,30)

Msec LFront LCtr LRear Front FrontVar Rear Steer Output SetPt LSpd RSpd

21994 161 185 162 108 5323.48 265 -0.01 -75.00 0.30 150 0

22002 164 182 160 108 5323.48 265 0.05 -75.00 0.30 150 0

22086 166 184 159 78 5270.27 295 0.07 -75.00 0.30 150 0

22184 175 185 165 58 5243.36 352 0.10 9.55 0.30 65 84

22280 183 190 172 175 5373.00 388 0.11 9.55 0.30 65 84

22375 197 204 176 91 5247.15 436 0.21 20.28 0.30 54 95

22470 197 215 182 108 5081.33 467 0.15 20.28 0.30 54 95

22564 207 226 189 151 4952.56 518 0.18 -25.08 0.30 100 49

22663 218 233 204 52 4842.48 555 0.14 -25.08 0.30 100 49

22761 236 245 213 141 4580.68 601 0.18 -16.44 0.30 91 58

bObstacleAhead TRUE in TRACKLEFT at 22858 with frontdist 13, variance = 4694.59

In SpinTurn(CW, 90.00)

Msec Hdg pHdg Rate TRate Spd

22952 71.13 73.50 26.9 20.0 87

23052 63.70 71.13 76.5 20.0 50

23147 54.57 63.70 98.3 20.0 50

23246 48.04 54.57 67.2 20.0 50

23343 43.69 48.04 46.2 20.0 50

23441 40.42 43.69 34.1 20.0 50

23540 38.54 40.42 19.5 20.0 90

23638 37.63 38.54 9.7 20.0 130

23734 34.63 37.63 31.7 20.0 90

23833 32.15 34.63 25.5 20.0 50

23931 30.65 32.15 15.7 20.0 90

24031 30.52 30.65 1.4 20.0 130

24127 29.88 30.52 6.8 20.0 170

24225 28.04 29.88 19.3 20.0 210

24324 24.16 28.04 40.3 20.0 170

24419 20.53 24.16 39.3 20.0 130

24515 11.17 20.53 98.9 20.0 90

Slowing down to 10.00 deg/sec at 11.17 deg

24611 0.33 11.17 115.7 10.0 50

24711 -8.59 0.33 92.5 10.0 50

24713: Exiting SpinTurn() at -8.59 deg

In RotateToParallelOrientation(Left)

Parallel Orientation Achieved at 27962 with SteeringVal = -79.86

WallOffsetTrackPID Parameters (Kp,Ki,Kd) = (100,30,30)

Msec LFront LCtr LRear Front FrontVar Rear Steer Output SetPt LSpd RSpd

27973 313 8191 8190 230 14.32 369 -78.77 -75.00 -0.30 150 0

bStuck TRUE in TRACKLEFT at 27981 with frontdist 230, variance = 14.32

---- ExecuteStuckRecoveryManeuver

Using front distance for backup with front/reardist = 230/36

28059 231 369

28153 248 350

28249 250 327

28346 254 282

28443 255 232

finished backup with frontdist/reardist = 28444 255/23

In SpinTurn(CW, 90.00)

Msec Hdg pHdg Rate TRate Spd

30450 20.77 20.77 0.0 20.0 167

30543 19.58 20.77 13.1 20.0 207

30640 9.56 19.58 106.9 20.0 167

30736 -2.24 9.56 125.2 20.0 127

30830 -14.60 -2.24 134.4 20.0 87

30922 -22.53 -14.60 88.6 20.0 50

31019 -33.56 -22.53 118.1 20.0 50

Slowing down to 10.00 deg/sec at -33.56 deg

31117 -43.11 -33.56 99.6 10.0 50

31214 -49.46 -43.11 66.5 10.0 50

31310 -52.74 -49.46 35.0 10.0 50

31409 -53.79 -52.74 10.8 10.0 50

31510 -53.85 -53.79 0.6 10.0 90

31607 -54.34 -53.85 5.2 10.0 130

31704 -56.91 -54.34 27.5 10.0 90

31802 -62.72 -56.91 60.3 10.0 50

31805: Exiting SpinTurn() at -62.72 deg

Using front distance for fwd travel with front/reardist = 62/34

33807 62 340

33862 61 329

33959 59 346

34058 57 354

34157 52 377

34254 49 434

34354 41 453

finished forward travel with frontdist/reardist = 41/45

In SpinTurn(CCW, 90.00)

Msec Hdg pHdg Rate TRate Spd

36356 -64.92 -64.92 0.0 20.0 167

36419 -64.63 -64.92 4.8 20.0 207

36517 -56.67 -64.63 83.0 20.0 167

36616 -41.04 -56.67 163.3 20.0 127

36712 -25.33 -41.04 166.6 20.0 87

36808 -8.73 -25.33 177.6 20.0 50

Slowing down to 10.00 deg/sec at -8.73 deg

36902 7.93 -8.73 182.0 10.0 50

36998 19.87 7.93 128.6 10.0 50

37000: Exiting SpinTurn() at 19.87 deg

I received: 63

ENTERING COMMAND MODE:

0 = 180 deg CCW Turn

1 = 180 deg CW Turn

A = Back to Auto Mode

S = Stop

F = Forward

R = Reverse

Faster

Left 4 5 6 Right

Slower

In the above telemetry printout, the first obstacle encounter occurs at 7.65 sec, corresponding to about 4 sec into the video. The obstacle is recognized at 18 cm, well inside the desired offset distance of 30 cm. I believe this occurred because the robot had just started turning back toward the near wall with a target steering value of -WALL_OFFSET_TRACK_SETPOINT_LIMIT (-0.3, the maximum toward-wall steering value) which meant that the normal forward obstacle detection limit of WALL_OFFSET_TGTDIST_CM (30cm in this case) wasn’t in force and the backup limit of MIN_FRONT_OBSTACLE_DIST_CM (20cm in this case) triggered instead. This causes the following code block to execute:

if (bObstacleAhead)//bObstacleAheada updated in timer1 ISR
{
	//mySerial.printf("bStuck or bObstacleAhead TRUE in TRACKLEFT with frontdist %d, variance = %6.2f\n", frontdistval, frontvar);
	mySerial.printf("bObstacleAhead TRUE in TRACKLEFT at %lu with frontdist %d, variance = %6.2f\n", 
		millis(), frontdistval, frontvar);
	InitFrontDistArray(); //added 08/12/20 to prevent multiple 'stuck' detections

	SpinTurn(false, 90);//turn 90 deg right
	PrevOpMode = MODE_NONE; //this will force wall offset recapture

	break; //don't execute the rest - just go back to GetOpMode()
}

if (bObstacleAhead)//bObstacleAheada updated in timer1 ISR

{

//mySerial.printf("bStuck or bObstacleAhead TRUE in TRACKLEFT with frontdist %d, variance = %6.2f\n", frontdistval, frontvar);

mySerial.printf("bObstacleAhead TRUE in TRACKLEFT at %lu with frontdist %d, variance = %6.2f\n",

millis(), frontdistval, frontvar);

InitFrontDistArray(); //added 08/12/20 to prevent multiple 'stuck' detections

SpinTurn(false, 90);//turn 90 deg right

PrevOpMode = MODE_NONE; //this will force wall offset recapture

break; //don't execute the rest - just go back to GetOpMode()

}

As can be seen in the above code snippet, this causes the robot to make a 90º ‘spin turn’ to the right, and then restart wall tracking.

At about 12.6 sec (about 10 sec into the movie) we see it detect the upcoming wall at about 30 cm (due to a bug in the code, the printed values are incorrect). This causes the following code block to execute:

else if (WallTrackSetPoint > -WALL_OFFSET_TRACK_SETPOINT_LIMIT && frontdistval <= WALL_OFFSET_TGTDIST_CM)
{
	//DEBUG!!
	mySerial.printf("Hit Wall Offset Limit (%d cm) at %lu with frontdist = %d, Setpoint = %2.2f\n", 
		WALL_OFFSET_TGTDIST_CM, millis(), frontdistval, WallTrackSetPoint);
	//DEBUG!!

											//02/26/20 StepTurn() is now a blocking fcn - doesn't return until step-turn is complete
	StepTurn(TRACKING_LEFT);
	PrevOpMode = MODE_NONE; //this will force wall offset recapture
	break; //skip rest of processing
}

else if (WallTrackSetPoint > -WALL_OFFSET_TRACK_SETPOINT_LIMIT && frontdistval <= WALL_OFFSET_TGTDIST_CM)

{

//DEBUG!!

mySerial.printf("Hit Wall Offset Limit (%d cm) at %lu with frontdist = %d, Setpoint = %2.2f\n",

WALL_OFFSET_TGTDIST_CM, millis(), frontdistval, WallTrackSetPoint);

//DEBUG!!

//02/26/20 StepTurn() is now a blocking fcn - doesn't return until step-turn is complete

StepTurn(TRACKING_LEFT);

PrevOpMode = MODE_NONE; //this will force wall offset recapture

break; //skip rest of processing

}

This code executes a 90º ‘step turn’ (identical to a ‘spin turn’) to the right, and drops back into wall tracking mode.

At about 16 sec into the movie and 20 sec after program start, the robot again detects an upcoming obstacle at about 30cm, and again executes a 90º ‘step turn’ to the right to follow the new wall.

About 1.5 sec later, the robot detects one of the chair legs (I think it was the one nearest the wall in the movie) and tries to get away using another 90º ‘spin turn’, but then exhibits some abnormal behavior. When it attempts to find the parallel orientation to the new (non-existent) wall, it exits RotateToParallelOrientation(Left) with SteeringVal = -79.86, a very strange result. I believe this is because Wall-E2 detected the ‘stuck’ condition while it was attempting to complete the parallel orientation procedure, in this ‘while’ loop

while (abs(ToFSteeringVal) > ToFArray_PARALLEL_FIND_SETPOINT && !bIsStuck && !bObstacleAhead)
{

1 2	while (abs(ToFSteeringVal) > ToFArray_PARALLEL_FIND_SETPOINT && !bIsStuck && !bObstacleAhead) {

So, it exited abnormally, thus the odd SteeringVal number, and then re-detected it in the main tracking loop because the front distance history array isn’t re-initialized after the first detection. This, apparently, is a ‘feature’, not a bug – who knew! ;-).

After the second ‘stuck’ condition detection, the robot attempts to disengage using the ExecuteStuckRecoveryManeuver(), which, in this case tries to back up and then execute an ‘end-around’ maneuver to get past the chair leg. It finished the backup portion of the maneuver successfully with 23cm remaining rearward, and then executed a 90º ‘spin turn’. Then it went forward 21cm using the front distance sensor (not shown in the video), and halted when I took over manual control.

All in all, this was a very successful ‘sandbox’ run. Lots of good data with clear indications of where things are working well and where things need to be modified/fixed.

A bug in the telemetry display code for the ‘Wall Offset Limit’ detection printout (fixed).
In the situation at 7.65 sec where the obstacle detection occurred at 18cm vs 30cm, the robot should recognize that it needs to back up to the wall offset target before making the spin turn (done).
And, of course, porting all this new stuff to the right-side tracking sections

16 November 2020 Update:

Tonight I got the first cut done at porting the TRACKNG_LEFT algorithms over to the TRACKING_RIGHT case, and made what appears to be a successful right-side sandbox run, as shown in the following short video

And here is the telemetry from the run:

In RotateToParallelOrientation(Right)
6266	298	352	372	-0.67	127.00	0	254
6466	280	307	306	-0.26	59.72	67	186
Parallel Orientation Achieved at 6538 with SteeringVal = 0.01
WallOffsetTrackPID Parameters (Kp,Ki,Kd) = (100,30,30)

Msec	RFront	RCtr	RRear	Front	FrontVarSteer	Output	SetPt	LSpd	RSpd
6549	281	294	280	227	8728.96	0.01	-2.15	0.06	72	77
6554	281	294	280	227	8728.96	0.01	-2.15	0.06	72	77
6635	310	311	276	240	8520.67	0.34	-2.15	-0.11	72	77
6729	327	325	292	244	8381.43	0.35	75.00	-0.25	150	0
6828	342	337	295	240	8290.90	0.47	75.00	-0.30	150	0
6921	357	355	316	230	8240.07	0.41	75.00	-0.30	150	0
7018	360	338	328	222	8224.66	0.32	75.00	-0.30	150	0
7114	352	359	326	213	8233.74	0.26	16.46	-0.30	91	58
7211	349	356	335	206	8247.12	0.14	16.46	-0.30	91	58
7305	336	357	341	202	8234.86	-0.05	-61.79	-0.30	13	136
7402	334	349	342	199	8165.47	-0.08	-61.79	-0.30	13	136
7499	338	371	343	197	8004.15	-0.14	-4.31	-0.30	70	79
7593	345	353	335	195	7715.00	0.10	-4.31	-0.30	70	79
7695	344	359	332	192	7260.35	0.13	75.00	-0.30	150	0
7786	350	359	329	189	6597.09	0.21	75.00	-0.30	150	0
7881	347	374	338	182	5682.62	0.03	11.97	-0.30	86	63
7979	348	355	352	177	4460.83	-0.04	11.97	-0.30	86	63
8078	340	353	349	172	2874.73	-0.09	-5.40	-0.30	69	80
8170	343	362	352	170	2504.54	-0.09	-5.40	-0.30	69	80
8266	343	345	360	165	2110.81	-0.17	-1.01	-0.30	73	76
8360	352	364	342	162	1719.27	0.10	-1.01	-0.30	73	76
8460	341	369	353	158	1311.16	-0.12	43.53	-0.30	118	31
8557	354	370	351	156	926.95	0.03	43.53	-0.30	118	31
8651	344	361	359	152	772.95	-0.15	16.98	-0.30	91	58
8748	333	359	367	150	853.82	-0.34	16.98	-0.30	91	58
8845	334	342	360	147	895.27	-0.26	-17.90	-0.30	57	92
8940	329	362	351	143	927.53	-0.22	-17.90	-0.30	57	92
9037	317	357	342	139	900.06	-0.25	19.25	-0.30	94	55
9134	317	347	343	134	837.40	-0.26	19.25	-0.30	94	55
9231	315	338	332	131	767.64	-0.17	48.64	-0.30	123	26
9329	299	331	327	128	720.97	-0.28	48.64	-0.30	123	26
9426	287	334	334	125	688.38	-0.34	-43.48	-0.30	31	118
9526	288	322	334	110	719.70	-0.46	-43.48	-0.22	31	118
9621	274	313	315	109	749.19	-0.37	-22.20	-0.13	52	97
9720	264	299	301	115	743.06	-0.37	-22.20	0.01	52	97
9818	253	279	283	111	736.87	-0.26	-4.61	0.21	70	79
9914	245	270	268	110	716.83	-0.23	-4.61	0.30	70	79
10012	232	266	265	104	699.06	-0.37	-75.00	0.30	0	150
10109	224	253	248	100	679.92	-0.24	-75.00	0.30	0	150
10205	218	244	243	96	659.09	-0.25	-13.27	0.30	61	88
10301	204	221	225	91	655.60	-0.21	-13.27	0.30	61	88
10397	198	221	212	89	651.66	-0.15	-10.62	0.30	64	85
10496	199	213	207	84	658.13	-0.08	-10.62	0.30	64	85
10595	169	214	204	82	653.91	-0.23	-74.21	0.30	0	149
10691	196	198	203	81	646.92	-0.07	-74.21	0.30	0	149
10789	202	215	201	81	628.52	0.00	40.89	0.30	115	34
10889	214	226	199	79	609.31	0.15	31.44	0.30	106	43
10985	208	228	202	75	588.31	0.06	31.44	0.30	106	43
11083	225	233	206	70	575.19	0.19	2.11	0.30	77	72
11183	222	225	219	67	556.60	0.06	-62.61	0.30	12	137
11281	232	236	223	64	535.88	0.05	-62.61	0.30	12	137
11377	253	238	221	62	513.85	0.34	75.00	0.30	150	0
11475	281	278	231	61	488.39	0.43	75.00	0.22	150	0
11573	279	277	245	57	471.88	0.36	19.90	0.23	94	55
11672	287	291	261	51	463.43	0.26	19.90	0.09	94	55
11769	299	299	273	46	459.76	0.15	-47.68	0.01	27	122
11870	301	295	288	42	457.37	0.01	-44.80	0.05	30	119
11969	302	300	280	36	498.81	0.23	-44.80	0.00	30	119
12065	303	313	283	33	535.29	0.20	75.00	-0.13	150	0
12164	325	318	307	30	544.00	0.23	75.00	-0.18	150	0
12260	338	332	315	24	563.76	0.23	65.78	-0.30	140	9
bObstacleAhead TRUE in TRACKRIGHT at 12358 with frontdist 19, variance = 580.36
backing up to 30 using front distance sensor
backed up successfully to 33 using front distance sensor
In SpinTurn(CCW, 90.00)
Msec	Hdg	PrevHdg	Rate	Set	Out	Spd
13039	0.17	-1.08	12.95	45.00	200.00	0
13136	5.51	0.17	56.96	45.00	200.00	0
13234	11.65	5.51	64.88	45.00	200.00	0
13331	15.61	11.65	42.26	45.00	200.00	0
13428	16.21	15.61	6.30	45.00	-200.00	200
13528	18.80	16.21	26.83	45.00	200.00	0
13626	28.55	18.80	102.85	45.00	200.00	0
13725	33.06	28.55	46.58	45.00	200.00	0
13825	33.04	33.06	0.16	45.00	-200.00	200
13921	35.82	33.04	29.69	45.00	-200.00	255
14021	48.68	35.82	132.80	45.00	200.00	55
14117	64.01	48.68	165.27	45.00	200.00	0
14213	75.93	64.01	128.49	45.00	-13.74	13
14310	84.24	75.93	88.53	45.00	-13.74	26
14313: Exiting SpinTurn() at 84.24 deg
In RotateToParallelOrientation(Right)
Parallel Orientation Achieved at 14504 with SteeringVal = 0.10
WallOffsetTrackPID Parameters (Kp,Ki,Kd) = (100,30,30)

Msec	LFront	LCtr	LRear	Front	FrontVar	Rear	Steer	Output	SetPt	LSpd	RSpd
14516	391	398	376	108	11084.51	0.10	5.98	-0.30	80	69
14521	391	398	376	108	11084.51	0.10	5.98	-0.30	80	69
14605	388	400	384	106	8356.08	0.04	5.98	-0.30	80	69
14704	380	395	384	105	5067.11	0.15	66.33	-0.30	141	8
14801	402	394	383	100	1142.00	0.19	66.33	-0.30	141	8
14883	398	404	393	98	1092.24	0.04	8.35	-0.30	83	66
14980	377	402	397	97	1019.28	-0.20	8.35	-0.30	83	66
15076	384	412	399	95	935.28	-0.15	-34.20	-0.30	40	109
15174	378	392	395	92	837.84	-0.17	-34.20	-0.30	40	109
15271	370	402	395	90	748.36	-0.15	23.25	-0.30	98	51
15369	384	391	387	87	664.72	-0.03	23.25	-0.30	98	51
15464	378	394	389	86	579.21	-0.15	23.70	-0.30	98	51
15563	374	394	388	82	504.21	-0.14	23.70	-0.30	98	51
15662	360	392	393	79	448.40	-0.29	-32.27	-0.30	42	107
15760	347	391	383	75	398.56	-0.36	-32.27	-0.30	42	107
15859	325	375	376	71	354.21	-0.40	-34.57	-0.30	40	109
15958	325	341	365	68	324.42	-0.40	-34.57	-0.30	40	109
16056	331	337	347	65	296.47	-0.14	75.00	-0.30	150	0
16154	332	343	327	62	284.88	0.05	75.00	-0.30	150	0
16253	330	353	332	60	275.08	0.07	75.00	-0.30	150	0
16351	329	337	341	58	284.24	-0.12	75.00	-0.30	150	0
16447	324	345	350	55	326.19	-0.28	-75.00	-0.30	0	150
16545	317	352	367	54	343.76	-0.40	-75.00	-0.30	0	150
16648	314	349	354	51	364.72	-0.38	-28.16	-0.30	46	103
16746	306	334	343	43	390.02	-0.34	-28.16	-0.30	46	103
16843	297	328	325	39	412.51	-0.28	39.84	-0.28	114	35
16941	286	321	314	33	442.75	-0.21	39.84	-0.21	114	35
17039	287	310	312	28	476.95	-0.25	3.39	-0.10	78	71
Hit Wall Offset Limit (30 cm) at 17138 with frontdist = 25, Setpoint = -0.10
In StepTurn(Tracking Right)
In SpinTurn(CCW, 90.00)
Msec	Hdg	PrevHdg	Rate	Set	Out	Spd
17236	67.82	67.35	5.02	45.00	-200.00	255
17335	75.00	67.82	75.00	45.00	-200.00	255
17438	91.46	75.00	164.54	45.00	200.00	55
17537	113.79	91.46	235.10	45.00	200.00	0
17633	134.03	113.79	217.56	45.00	200.00	0
17732	146.96	134.03	134.52	45.00	200.00	0
17831	151.31	146.96	45.43	45.00	-200.00	200
17835: Exiting SpinTurn() at 151.31 deg
In RotateToParallelOrientation(Right)
18134	126	157	159	-0.38	86.02	40	213
Parallel Orientation Achieved at 18321 with SteeringVal = -0.02
WallOffsetTrackPID Parameters (Kp,Ki,Kd) = (100,30,30)

Msec	LFront	LCtr	LRear	Front	FrontVar	Rear	Steer	Output	SetPt	LSpd	RSpd
18332	131	154	128	321	5983.33	-0.02	45.43	0.30	120	29
18337	131	154	128	321	5983.33	-0.02	45.43	0.30	120	29
18418	135	158	133	206	6668.69	0.02	45.43	0.30	120	29
18512	144	154	140	208	7308.87	-0.01	-20.50	0.30	54	95
18611	146	157	140	313	9298.40	0.06	-20.50	0.30	54	95
18706	150	161	143	311	11046.16	0.01	-16.37	0.30	58	91
18800	153	163	146	308	12536.56	0.07	-16.37	0.30	58	91
18897	157	165	144	270	13305.75	0.13	25.12	0.30	100	49
18991	162	179	156	268	13898.79	0.06	25.12	0.30	100	49
19087	162	177	159	266	14304.01	0.03	-51.69	0.30	23	126
19182	162	173	161	261	14450.51	0.01	-51.69	0.30	23	126
19278	173	180	162	213	14096.38	0.11	9.74	0.30	84	65
19376	179	189	162	191	13513.93	0.17	9.74	0.30	84	65
19472	186	203	174	187	12789.90	0.12	-10.80	0.30	64	85
19569	194	196	183	184	11946.82	0.11	-10.80	0.30	64	85
19665	197	201	184	177	11022.66	0.13	-10.31	0.30	64	85
19761	204	202	185	174	9907.81	0.19	-10.31	0.30	64	85
19858	211	215	198	172	8758.23	0.13	-13.82	0.30	61	88
19953	212	216	207	166	7632.49	0.05	-13.82	0.30	61	88
20050	218	228	205	179	6549.61	0.13	-14.33	0.30	60	89
20147	232	232	213	178	5714.13	0.19	-14.33	0.30	60	89
20242	234	238	221	176	4935.26	0.13	-14.84	0.30	60	89
20336	249	243	227	172	4144.19	0.13	-14.84	0.30	60	89
20432	252	260	235	171	3394.58	0.17	0.77	0.30	75	74
20531	265	269	238	171	3167.90	0.27	28.68	0.30	103	46
20626	270	280	247	165	2857.96	0.23	28.68	0.20	103	46
20722	280	275	255	160	2505.05	0.25	-4.32	0.25	70	79
20818	281	281	269	153	2629.37	0.12	-4.32	0.19	70	79
20918	286	290	269	147	2771.09	0.17	-15.11	0.10	59	90
21017	289	273	275	144	2412.00	0.14	-15.11	0.27	59	90
21114	303	304	283	141	1992.57	0.20	35.61	-0.04	110	39
21209	307	313	289	138	1521.46	0.18	35.61	-0.13	110	39
21306	302	314	298	131	1317.75	0.04	-26.85	-0.14	48	101
21402	310	321	303	129	1074.44	0.07	-26.85	-0.21	48	101
21500	326	310	308	127	791.55	0.18	73.99	-0.10	148	1
21599	319	341	309	123	499.21	0.10	73.99	-0.30	148	1
21696	317	335	315	112	484.99	0.02	-11.05	-0.30	63	86
21790	319	334	318	109	531.44	0.01	-11.05	-0.30	63	86
21890	317	328	322	105	582.61	-0.05	7.64	-0.28	82	67
21985	325	322	326	102	631.94	-0.01	7.64	-0.22	82	67
22080	328	341	327	99	690.09	0.01	55.57	-0.30	130	19
22176	329	335	328	98	740.19	-0.02	55.57	-0.30	130	19
22275	333	343	324	176	750.18	-0.04	18.35	-0.30	93	56
22368	320	348	335	175	769.94	-0.18	18.35	-0.30	93	56
22465	316	352	329	174	756.59	-0.09	13.98	-0.30	88	61
22563	313	331	337	170	736.67	-0.28	13.98	-0.30	88	61
22658	309	328	332	167	715.82	-0.32	-65.14	-0.28	9	140
22753	305	329	328	164	699.31	-0.30	-65.14	-0.29	9	140
22851	286	314	320	159	677.04	-0.22	29.62	-0.14	104	45
22944	287	302	308	155	649.19	-0.18	29.62	-0.02	104	45
23043	285	306	310	151	629.75	-0.25	-20.95	-0.06	54	95
23141	282	312	296	145	614.81	-0.14	-20.95	-0.12	54	95
23236	269	291	295	141	607.63	-0.16	8.30	0.09	83	66
23333	278	299	287	137	605.30	-0.08	8.30	0.01	83	66
23429	307	286	284	134	605.04	0.11	75.00	0.14	150	0
23527	502	292	280	128	608.91	1.64	75.00	0.08	150	0
23626	781	316	285	127	613.53	5.28	75.00	-0.16	150	0
23721	791	326	290	128	615.44	4.93	75.00	-0.26	150	0
23821	564	319	308	131	614.25	3.09	-75.00	-0.19	0	150
23918	402	325	329	109	641.78	0.77	-75.00	-0.25	0	150
24013	558	352	317	107	669.23	2.03	-45.64	-0.30	29	120
24113	703	467	317	126	649.74	3.33	75.00	-0.30	150	0
24213	850	709	481	118	632.92	3.69	75.00	-0.30	150	0
24311	811	842	622	115	611.13	1.99	75.00	-0.30	150	0
24407	797	835	649	94	636.27	1.87	-75.00	-0.30	0	150
24502	817	732	591	89	670.60	2.44	-75.00	-0.30	0	150
24601	830	801	642	83	725.71	1.88	75.00	-0.30	150	0
24696	248	281	290	78	  781.84	8190	-0.42	75.00	0.19	0	150
24795	272	264	266	75	  823.44	8190	0.06	-75.00	0.30	150	0
24892	327	273	258	71	  853.43	8191	0.69	-75.00	0.27	150	0
24988	542	379	269	68	  878.24	8190	2.73	75.00	-0.30	0	150
25086	676	673	348	63	  902.54	8190	3.28	75.00	-0.30	0	150
25185	696	713	571	93	  822.56	8190	1.25	-75.00	-0.30	150	0
25280	696	711	633	89	  753.12	8191	0.63	-75.00	-0.30	150	0
25379	667	717	667	88	  685.37	574	0.33	-75.00	-0.30	150	0
25479	673	650	667	60	  686.83	8191	0.06	30.00	-0.30	45	105
25577	742	736	643	61	  681.45	8190	0.99	30.00	-0.30	45	105
25674	796	782	673	54	  690.36	8190	1.23	75.00	-0.30	0	150
25773	830	810	694	48	  710.01	8190	1.29	75.00	-0.30	0	150
25869	582	643	721	37	756.88	-1.08	-75.00	-0.30	0	150
25966	545	579	615	34	807.42	-0.70	-75.00	-0.30	0	150
26066	493	523	553	33	837.20	-0.56	75.00	-0.30	150	0
26166	468	488	499	22	879.26	-0.31	75.00	-0.30	150	0
26262	446	499	502	25	859.92	-0.64	75.00	-0.30	150	0
26361	441	523	508	23	900.38	-0.67	-74.26	-0.30	0	149
26459	467	519	544	22	927.31	-0.90	-74.26	-0.30	0	149
bObstacleAhead TRUE in TRACKRIGHT at 26556 with frontdist 15, variance = 874.38
backing up to 30 using front distance sensor
backed up successfully to 35 using front distance sensor
In SpinTurn(CCW, 90.00)
Msec	Hdg	PrevHdg	Rate	Set	Out	Spd

100

101

102

103

104

105

106

107

108

109

110

111

112

113

114

115

116

117

118

119

120

121

122

123

124

125

126

127

128

129

130

131

132

133

134

135

136

137

138

139

140

141

142

143

144

145

146

147

148

149

150

151

152

153

154

155

156

157

158

159

160

161

162

163

164

165

166

167

168

169

170

171

172

173

174

175

176

177

178

179

180

181

182

183

184

185

186

187

188

189

190

191

192

193

194

195

196

197

198

199

200

201

202

203

204

205

206

207

208

209

210

211

212

213

214

215

216

217

218

219

220

221

222

223

224

225

226

227

228

229

230

In RotateToParallelOrientation(Right)

6266 298 352 372 -0.67 127.00 0 254

6466 280 307 306 -0.26 59.72 67 186

Parallel Orientation Achieved at 6538 with SteeringVal = 0.01

WallOffsetTrackPID Parameters (Kp,Ki,Kd) = (100,30,30)

Msec RFront RCtr RRear Front FrontVarSteer Output SetPt LSpd RSpd

6549 281 294 280 227 8728.96 0.01 -2.15 0.06 72 77

6554 281 294 280 227 8728.96 0.01 -2.15 0.06 72 77

6635 310 311 276 240 8520.67 0.34 -2.15 -0.11 72 77

6729 327 325 292 244 8381.43 0.35 75.00 -0.25 150 0

6828 342 337 295 240 8290.90 0.47 75.00 -0.30 150 0

6921 357 355 316 230 8240.07 0.41 75.00 -0.30 150 0

7018 360 338 328 222 8224.66 0.32 75.00 -0.30 150 0

7114 352 359 326 213 8233.74 0.26 16.46 -0.30 91 58

7211 349 356 335 206 8247.12 0.14 16.46 -0.30 91 58

7305 336 357 341 202 8234.86 -0.05 -61.79 -0.30 13 136

7402 334 349 342 199 8165.47 -0.08 -61.79 -0.30 13 136

7499 338 371 343 197 8004.15 -0.14 -4.31 -0.30 70 79

7593 345 353 335 195 7715.00 0.10 -4.31 -0.30 70 79

7695 344 359 332 192 7260.35 0.13 75.00 -0.30 150 0

7786 350 359 329 189 6597.09 0.21 75.00 -0.30 150 0

7881 347 374 338 182 5682.62 0.03 11.97 -0.30 86 63

7979 348 355 352 177 4460.83 -0.04 11.97 -0.30 86 63

8078 340 353 349 172 2874.73 -0.09 -5.40 -0.30 69 80

8170 343 362 352 170 2504.54 -0.09 -5.40 -0.30 69 80

8266 343 345 360 165 2110.81 -0.17 -1.01 -0.30 73 76

8360 352 364 342 162 1719.27 0.10 -1.01 -0.30 73 76

8460 341 369 353 158 1311.16 -0.12 43.53 -0.30 118 31

8557 354 370 351 156 926.95 0.03 43.53 -0.30 118 31

8651 344 361 359 152 772.95 -0.15 16.98 -0.30 91 58

8748 333 359 367 150 853.82 -0.34 16.98 -0.30 91 58

8845 334 342 360 147 895.27 -0.26 -17.90 -0.30 57 92

8940 329 362 351 143 927.53 -0.22 -17.90 -0.30 57 92

9037 317 357 342 139 900.06 -0.25 19.25 -0.30 94 55

9134 317 347 343 134 837.40 -0.26 19.25 -0.30 94 55

9231 315 338 332 131 767.64 -0.17 48.64 -0.30 123 26

9329 299 331 327 128 720.97 -0.28 48.64 -0.30 123 26

9426 287 334 334 125 688.38 -0.34 -43.48 -0.30 31 118

9526 288 322 334 110 719.70 -0.46 -43.48 -0.22 31 118

9621 274 313 315 109 749.19 -0.37 -22.20 -0.13 52 97

9720 264 299 301 115 743.06 -0.37 -22.20 0.01 52 97

9818 253 279 283 111 736.87 -0.26 -4.61 0.21 70 79

9914 245 270 268 110 716.83 -0.23 -4.61 0.30 70 79

10012 232 266 265 104 699.06 -0.37 -75.00 0.30 0 150

10109 224 253 248 100 679.92 -0.24 -75.00 0.30 0 150

10205 218 244 243 96 659.09 -0.25 -13.27 0.30 61 88

10301 204 221 225 91 655.60 -0.21 -13.27 0.30 61 88

10397 198 221 212 89 651.66 -0.15 -10.62 0.30 64 85

10496 199 213 207 84 658.13 -0.08 -10.62 0.30 64 85

10595 169 214 204 82 653.91 -0.23 -74.21 0.30 0 149

10691 196 198 203 81 646.92 -0.07 -74.21 0.30 0 149

10789 202 215 201 81 628.52 0.00 40.89 0.30 115 34

10889 214 226 199 79 609.31 0.15 31.44 0.30 106 43

10985 208 228 202 75 588.31 0.06 31.44 0.30 106 43

11083 225 233 206 70 575.19 0.19 2.11 0.30 77 72

11183 222 225 219 67 556.60 0.06 -62.61 0.30 12 137

11281 232 236 223 64 535.88 0.05 -62.61 0.30 12 137

11377 253 238 221 62 513.85 0.34 75.00 0.30 150 0

11475 281 278 231 61 488.39 0.43 75.00 0.22 150 0

11573 279 277 245 57 471.88 0.36 19.90 0.23 94 55

11672 287 291 261 51 463.43 0.26 19.90 0.09 94 55

11769 299 299 273 46 459.76 0.15 -47.68 0.01 27 122

11870 301 295 288 42 457.37 0.01 -44.80 0.05 30 119

11969 302 300 280 36 498.81 0.23 -44.80 0.00 30 119

12065 303 313 283 33 535.29 0.20 75.00 -0.13 150 0

12164 325 318 307 30 544.00 0.23 75.00 -0.18 150 0

12260 338 332 315 24 563.76 0.23 65.78 -0.30 140 9

bObstacleAhead TRUE in TRACKRIGHT at 12358 with frontdist 19, variance = 580.36

backing up to 30 using front distance sensor

backed up successfully to 33 using front distance sensor

In SpinTurn(CCW, 90.00)

Msec Hdg PrevHdg Rate Set Out Spd

13039 0.17 -1.08 12.95 45.00 200.00 0

13136 5.51 0.17 56.96 45.00 200.00 0

13234 11.65 5.51 64.88 45.00 200.00 0

13331 15.61 11.65 42.26 45.00 200.00 0

13428 16.21 15.61 6.30 45.00 -200.00 200

13528 18.80 16.21 26.83 45.00 200.00 0

13626 28.55 18.80 102.85 45.00 200.00 0

13725 33.06 28.55 46.58 45.00 200.00 0

13825 33.04 33.06 0.16 45.00 -200.00 200

13921 35.82 33.04 29.69 45.00 -200.00 255

14021 48.68 35.82 132.80 45.00 200.00 55

14117 64.01 48.68 165.27 45.00 200.00 0

14213 75.93 64.01 128.49 45.00 -13.74 13

14310 84.24 75.93 88.53 45.00 -13.74 26

14313: Exiting SpinTurn() at 84.24 deg

In RotateToParallelOrientation(Right)

Parallel Orientation Achieved at 14504 with SteeringVal = 0.10

WallOffsetTrackPID Parameters (Kp,Ki,Kd) = (100,30,30)

Msec LFront LCtr LRear Front FrontVar Rear Steer Output SetPt LSpd RSpd

14516 391 398 376 108 11084.51 0.10 5.98 -0.30 80 69

14521 391 398 376 108 11084.51 0.10 5.98 -0.30 80 69

14605 388 400 384 106 8356.08 0.04 5.98 -0.30 80 69

14704 380 395 384 105 5067.11 0.15 66.33 -0.30 141 8

14801 402 394 383 100 1142.00 0.19 66.33 -0.30 141 8

14883 398 404 393 98 1092.24 0.04 8.35 -0.30 83 66

14980 377 402 397 97 1019.28 -0.20 8.35 -0.30 83 66

15076 384 412 399 95 935.28 -0.15 -34.20 -0.30 40 109

15174 378 392 395 92 837.84 -0.17 -34.20 -0.30 40 109

15271 370 402 395 90 748.36 -0.15 23.25 -0.30 98 51

15369 384 391 387 87 664.72 -0.03 23.25 -0.30 98 51

15464 378 394 389 86 579.21 -0.15 23.70 -0.30 98 51

15563 374 394 388 82 504.21 -0.14 23.70 -0.30 98 51

15662 360 392 393 79 448.40 -0.29 -32.27 -0.30 42 107

15760 347 391 383 75 398.56 -0.36 -32.27 -0.30 42 107

15859 325 375 376 71 354.21 -0.40 -34.57 -0.30 40 109

15958 325 341 365 68 324.42 -0.40 -34.57 -0.30 40 109

16056 331 337 347 65 296.47 -0.14 75.00 -0.30 150 0

16154 332 343 327 62 284.88 0.05 75.00 -0.30 150 0

16253 330 353 332 60 275.08 0.07 75.00 -0.30 150 0

16351 329 337 341 58 284.24 -0.12 75.00 -0.30 150 0

16447 324 345 350 55 326.19 -0.28 -75.00 -0.30 0 150

16545 317 352 367 54 343.76 -0.40 -75.00 -0.30 0 150

16648 314 349 354 51 364.72 -0.38 -28.16 -0.30 46 103

16746 306 334 343 43 390.02 -0.34 -28.16 -0.30 46 103

16843 297 328 325 39 412.51 -0.28 39.84 -0.28 114 35

16941 286 321 314 33 442.75 -0.21 39.84 -0.21 114 35

17039 287 310 312 28 476.95 -0.25 3.39 -0.10 78 71

Hit Wall Offset Limit (30 cm) at 17138 with frontdist = 25, Setpoint = -0.10

In StepTurn(Tracking Right)

In SpinTurn(CCW, 90.00)

Msec Hdg PrevHdg Rate Set Out Spd

17236 67.82 67.35 5.02 45.00 -200.00 255

17335 75.00 67.82 75.00 45.00 -200.00 255

17438 91.46 75.00 164.54 45.00 200.00 55

17537 113.79 91.46 235.10 45.00 200.00 0

17633 134.03 113.79 217.56 45.00 200.00 0

17732 146.96 134.03 134.52 45.00 200.00 0

17831 151.31 146.96 45.43 45.00 -200.00 200

17835: Exiting SpinTurn() at 151.31 deg

In RotateToParallelOrientation(Right)

18134 126 157 159 -0.38 86.02 40 213

Parallel Orientation Achieved at 18321 with SteeringVal = -0.02

WallOffsetTrackPID Parameters (Kp,Ki,Kd) = (100,30,30)

Msec LFront LCtr LRear Front FrontVar Rear Steer Output SetPt LSpd RSpd

18332 131 154 128 321 5983.33 -0.02 45.43 0.30 120 29

18337 131 154 128 321 5983.33 -0.02 45.43 0.30 120 29

18418 135 158 133 206 6668.69 0.02 45.43 0.30 120 29

18512 144 154 140 208 7308.87 -0.01 -20.50 0.30 54 95

18611 146 157 140 313 9298.40 0.06 -20.50 0.30 54 95

18706 150 161 143 311 11046.16 0.01 -16.37 0.30 58 91

18800 153 163 146 308 12536.56 0.07 -16.37 0.30 58 91

18897 157 165 144 270 13305.75 0.13 25.12 0.30 100 49

18991 162 179 156 268 13898.79 0.06 25.12 0.30 100 49

19087 162 177 159 266 14304.01 0.03 -51.69 0.30 23 126

19182 162 173 161 261 14450.51 0.01 -51.69 0.30 23 126

19278 173 180 162 213 14096.38 0.11 9.74 0.30 84 65

19376 179 189 162 191 13513.93 0.17 9.74 0.30 84 65

19472 186 203 174 187 12789.90 0.12 -10.80 0.30 64 85

19569 194 196 183 184 11946.82 0.11 -10.80 0.30 64 85

19665 197 201 184 177 11022.66 0.13 -10.31 0.30 64 85

19761 204 202 185 174 9907.81 0.19 -10.31 0.30 64 85

19858 211 215 198 172 8758.23 0.13 -13.82 0.30 61 88

19953 212 216 207 166 7632.49 0.05 -13.82 0.30 61 88

20050 218 228 205 179 6549.61 0.13 -14.33 0.30 60 89

20147 232 232 213 178 5714.13 0.19 -14.33 0.30 60 89

20242 234 238 221 176 4935.26 0.13 -14.84 0.30 60 89

20336 249 243 227 172 4144.19 0.13 -14.84 0.30 60 89

20432 252 260 235 171 3394.58 0.17 0.77 0.30 75 74

20531 265 269 238 171 3167.90 0.27 28.68 0.30 103 46

20626 270 280 247 165 2857.96 0.23 28.68 0.20 103 46

20722 280 275 255 160 2505.05 0.25 -4.32 0.25 70 79

20818 281 281 269 153 2629.37 0.12 -4.32 0.19 70 79

20918 286 290 269 147 2771.09 0.17 -15.11 0.10 59 90

21017 289 273 275 144 2412.00 0.14 -15.11 0.27 59 90

21114 303 304 283 141 1992.57 0.20 35.61 -0.04 110 39

21209 307 313 289 138 1521.46 0.18 35.61 -0.13 110 39

21306 302 314 298 131 1317.75 0.04 -26.85 -0.14 48 101

21402 310 321 303 129 1074.44 0.07 -26.85 -0.21 48 101

21500 326 310 308 127 791.55 0.18 73.99 -0.10 148 1

21599 319 341 309 123 499.21 0.10 73.99 -0.30 148 1

21696 317 335 315 112 484.99 0.02 -11.05 -0.30 63 86

21790 319 334 318 109 531.44 0.01 -11.05 -0.30 63 86

21890 317 328 322 105 582.61 -0.05 7.64 -0.28 82 67

21985 325 322 326 102 631.94 -0.01 7.64 -0.22 82 67

22080 328 341 327 99 690.09 0.01 55.57 -0.30 130 19

22176 329 335 328 98 740.19 -0.02 55.57 -0.30 130 19

22275 333 343 324 176 750.18 -0.04 18.35 -0.30 93 56

22368 320 348 335 175 769.94 -0.18 18.35 -0.30 93 56

22465 316 352 329 174 756.59 -0.09 13.98 -0.30 88 61

22563 313 331 337 170 736.67 -0.28 13.98 -0.30 88 61

22658 309 328 332 167 715.82 -0.32 -65.14 -0.28 9 140

22753 305 329 328 164 699.31 -0.30 -65.14 -0.29 9 140

22851 286 314 320 159 677.04 -0.22 29.62 -0.14 104 45

22944 287 302 308 155 649.19 -0.18 29.62 -0.02 104 45

23043 285 306 310 151 629.75 -0.25 -20.95 -0.06 54 95

23141 282 312 296 145 614.81 -0.14 -20.95 -0.12 54 95

23236 269 291 295 141 607.63 -0.16 8.30 0.09 83 66

23333 278 299 287 137 605.30 -0.08 8.30 0.01 83 66

23429 307 286 284 134 605.04 0.11 75.00 0.14 150 0

23527 502 292 280 128 608.91 1.64 75.00 0.08 150 0

23626 781 316 285 127 613.53 5.28 75.00 -0.16 150 0

23721 791 326 290 128 615.44 4.93 75.00 -0.26 150 0

23821 564 319 308 131 614.25 3.09 -75.00 -0.19 0 150

23918 402 325 329 109 641.78 0.77 -75.00 -0.25 0 150

24013 558 352 317 107 669.23 2.03 -45.64 -0.30 29 120

24113 703 467 317 126 649.74 3.33 75.00 -0.30 150 0

24213 850 709 481 118 632.92 3.69 75.00 -0.30 150 0

24311 811 842 622 115 611.13 1.99 75.00 -0.30 150 0

24407 797 835 649 94 636.27 1.87 -75.00 -0.30 0 150

24502 817 732 591 89 670.60 2.44 -75.00 -0.30 0 150

24601 830 801 642 83 725.71 1.88 75.00 -0.30 150 0

24696 248 281 290 78 781.84 8190 -0.42 75.00 0.19 0 150

24795 272 264 266 75 823.44 8190 0.06 -75.00 0.30 150 0

24892 327 273 258 71 853.43 8191 0.69 -75.00 0.27 150 0

24988 542 379 269 68 878.24 8190 2.73 75.00 -0.30 0 150

25086 676 673 348 63 902.54 8190 3.28 75.00 -0.30 0 150

25185 696 713 571 93 822.56 8190 1.25 -75.00 -0.30 150 0

25280 696 711 633 89 753.12 8191 0.63 -75.00 -0.30 150 0

25379 667 717 667 88 685.37 574 0.33 -75.00 -0.30 150 0

25479 673 650 667 60 686.83 8191 0.06 30.00 -0.30 45 105

25577 742 736 643 61 681.45 8190 0.99 30.00 -0.30 45 105

25674 796 782 673 54 690.36 8190 1.23 75.00 -0.30 0 150

25773 830 810 694 48 710.01 8190 1.29 75.00 -0.30 0 150

25869 582 643 721 37 756.88 -1.08 -75.00 -0.30 0 150

25966 545 579 615 34 807.42 -0.70 -75.00 -0.30 0 150

26066 493 523 553 33 837.20 -0.56 75.00 -0.30 150 0

26166 468 488 499 22 879.26 -0.31 75.00 -0.30 150 0

26262 446 499 502 25 859.92 -0.64 75.00 -0.30 150 0

26361 441 523 508 23 900.38 -0.67 -74.26 -0.30 0 149

26459 467 519 544 22 927.31 -0.90 -74.26 -0.30 0 149

bObstacleAhead TRUE in TRACKRIGHT at 26556 with frontdist 15, variance = 874.38

backing up to 30 using front distance sensor

backed up successfully to 35 using front distance sensor

In SpinTurn(CCW, 90.00)

Msec Hdg PrevHdg Rate Set Out Spd

Here’s an Excel plot of the Right side center distance and L/R motor speeds vs time.

Comparing the times from the video and the telemetry, it appears the video time is about 3-3.5 sec lower than the telemetry values. In the video, Wall-E2 detects the first upcoming wall at about 9 sec, and this corresponds with the telemetry at 12.358 where the wall is detected with front distance of 19cm. The reason the wall didn’t get detected earlier is the robot was currently tracking back toward the wall with a steering value of -0.3, and this causes the wall detection value to be reduced to suppress false positives.

The robot then takes 2 sec to back up to 33 cm and turn 90 deg CCW, and then it starts tracking the right-side wall again. It detects the next wall at 17.1 sec (14 sec in video) and 30 cm (the steering value at that point was 0.10, so no reduction in upcoming obstacle detection distance). Because the detection occurred at 30 cm, the robot doesn’t need to back up; it just makes another 90 deg spin turn CCW and starts tracking the right-side wall again. The last segment clearly shows that Wall-E2 is capable of tracking to and capturing the desired offset of 30 cm.

All in all, a very successful right-side sandbox run.

Stay tuned!

Frank

Adafruit DS3231 Module vs generic ZS-042 Module

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Posted 30 October 2020,

Back in May of 2018, well over 2 years ago, I posted about adding an Adafruit DS3231 RTC module to Wall-E2, my autonomous wall-following robot project. This addition went swimmingly until about 6 months later in September of 2018 when I posted to the Adafruit support forum, saying that I was having trouble with the ‘lostPower()’ function return values; it seems like it was returning FALSE (no power loss) even though I had removed the battery and turned off the power to the system. As described in the post, I eventually gave up on this in February of 2019after discovering that I was getting radically different results when I used a different Arduino Mega and two different Adafruit DS3231 modules. Eventually I wound up in the situation where both DS3231 modules appeared to work correctly no matter what I did – strange!

Fast-forward to the present. In the process of adding a rear distance sensor to Wall-E2, I once again ran across the same anomalous behavior by the Adafruit DS3231 RTC module; The ‘lostPower()’ function stubbornly refused to declare a loss of power, even with the battery removed and the main power turned off. After a lot more investigation, including a dedicated test program and some more back-and-forth on the Adafruit forum, I (and the Adafruit support guys) still was unable to resolve the issue.

In desperation, I fished a generic ‘ZS-042’ DS3231 RTC module out of my parts bin and started working with it, thinking maybe I could use it to get a clue why the Adafruit modules were failing. As it turned out, the ZS-042 module worked perfectly from the get-go with the Adafruit RTC library, and the ‘lostPower()’ function correctly returned TRUE when main power was lost with the battery removed, and FALSE when power was lost but the battery was in place.

Here are some photos of the Adafruit and ZS-042 modules:

As can be readily seen, the ZS-042 module is considerably larger, due almost entirely to the decision to use the LIR-2032 Li-ion rechargeable cell instead of the smaller non-rechargeable CR1220 type. Other differences:

The ZS-042 module includes a power LED. This LED illuminates when main power is available on the VCC pin, but not when the RTC module is running from the battery
The Adafruit module exposes the RST (reset) line. If you need this, the ZS-042 won’t work for you.
When used with the supplied LIR2032, the battery is recharged and/or float-charged from VCC through a 1N4148 diode. This works fine if VCC is 5V, but doesn’t work at all if VCC is 3.3V.
The 32KHz output is open-drain, without a pullup on both the Adafruit module, but the ZS-042 module has a pullup to VCC. What this means in practice is you can’t easily monitor this output when operating off the battery, so it is hard to tell if the RTC module is still running. My solution to that was to attach a completely separate power supply to the 32KHz output via a 10K pullup resistor. The Adafruit module needs this to see the 32KHz output for both battery power and mains power. The ZS-042 module only needs it for battery power.

Adafruit module with temporary 10K pullup resistor installed. Note clock scope trace in background

ZS-042 module with main power applied to USB connector. 32KHz output is present even without an external pullup

Same setup but with USB connector removed. Now need a 10K external pullup to an external supply to monitor 32KHz clock

So, there you have it. The Adafruit module is smaller, has an additional output (RST) and uses a smaller, non-rechargeable CR2210 button cell. However, in my testing and use over a two-year period, I came to distrust its ability to reliably detect and report on complete power loss situations that would require a forced date/time update.

The ZS-042 module is significantly larger due to its use of the rechargeable Li-ion LIR2032 button cell, and doesn’t have the RST output. It is also considerably cheaper and widely available. Lastly, it appears to more reliably report complete power loss occurrences, allowing proper date/time updates.

For my money, I have replaced the Adafruit DS3231 module in my system with the ZS-042 module. In practice, complete RTC power failure events are very rare, so in all probability there would be no appreciable difference between the two choices. However, for those applications (like mine) where you really do want to know if the RTC loses its sense of time, I don’t feel comfortable with the Adafruit module.

If anyone has a better understanding of the Adafruit module, please feel free to comment.

30 October 2020 Update

I replaced the Adafruit DS3231 RTC module on my Wall-E2 autonomous wall-following robot with the ZS-042 DS3231 RTC module. As shown in the following photos, I had to re-arrange the I2C FRAM and I2C MPU6050 IMU modules in order to make room for the significantly larger ZS-042 module.

Original layout. Adafruit RTC module on left, MPU6050 IMU in center, FRAM on right

Straight replacement not going to work – oops!

Stay tuned,

Frank