OrreryDriver/Firmware/orreryDriver.ino

// defines pins
#define stepPin 3
#define dirPin 4
#define potPin 0
#define buttonPin 7
#define motorEnablePin 10

#include "RTClib.h"
#include <AccelStepper.h>
#include <TM1637.h>
#include <Preferences.h>

unsigned int oldVal;

// Define variables for timing
unsigned long lastUpdate = 0;
const int updateInterval = 100; // Update display every 100ms

const unsigned long rtcSyncInterval = 600000; // 172 seconds in milliseconds
unsigned long lastRtcSync = 0;

unsigned long lastDebugTime = 0;
const int debugInterval = 500; // Only check RTC/Print every 500ms

//motor values
uint32_t totalSecondsinYear = 31536000;
//uint32_t fullRotationMotorSteps = 194400;
uint32_t fullRotationMotorSteps = 183348;

bool isCalibrated = false;
bool homingComplete = false;
bool realTime = false;

int count=0;

long targetPos;

//inititate EEPROM with preferences library
Preferences preferences;

// Instantiation and pins configurations
// Pin 2 - > DIO
// Pin 1 - > CLK
TM1637 tm(1, 2);
TM1637 tm2(5, 6);
int potValue = 0;

RTC_DS3231 rtc;

AccelStepper stepper1(1, stepPin, dirPin);

//define state machine
enum {calibrationMode, manualMode, realTimeMode};
unsigned char machineState;

void setup() {
  pinMode(buttonPin, INPUT_PULLDOWN);
  pinMode(motorEnablePin,OUTPUT);
  Serial.begin(115200);
//preferences.begin("persistent-mem", false); 
//oldVal = preferences.getUInt("oldVal", 0);
     tm.init();
     tm2.init();
     tm.setBrightnessPercent(5);
     tm2.setBrightnessPercent(5);
     rtc.begin();
//     rtc.adjust(DateTime(2026, 4, 1, 12, 0, 0));
//     rtc.adjust(DateTime(F(__DATE__), F(__TIME__)));
 
  stepper1.setMaxSpeed(4000);
  stepper1.setAcceleration(500);
  stepper1.setSpeed(4000);  
//enable motor
  digitalWrite(motorEnablePin ,LOW);
}
void loop()
{

switch (machineState){
  case calibrationMode:
  calibrateOrrery();
  break;
  case realTimeMode:
  if (digitalRead(buttonPin) == HIGH){
     tm.display("real");
     tm2.display("time");
  realTime=true;
  
  updateMotor();
  Serial.println("Real time switch");
  
  }


if (realTime && (millis() - lastRtcSync >= rtcSyncInterval)) {
      lastRtcSync = millis();
      updateMotor(); // Calculates new targetPos based on RTC
      Serial.println("Periodic RTC Sync Triggered");
    }
        
manualControl(isCalibrated);
  break;
  case manualMode:
  break;
  default:
  Serial.println("Default Mode");
//  first check if theres state in memorty
  if(oldVal == 0){
  machineState = calibrationMode;
  }else{
      stepper1.setCurrentPosition(oldVal);
      isCalibrated = true;
      realTime=true;
      updateMotor();
      machineState = realTimeMode;
    }
  }
  

  
     
  
}

void calibrateOrrery(){
      if (digitalRead(buttonPin) == HIGH && !homingComplete) {  
      tm.display("clbr");
      tm2.display("set");
      
      stepper1.setCurrentPosition(1500);

      updateMotor();
      homingComplete = true;

     
  } 
  else if(!homingComplete) {
      tm.display("clbr");
      tm2.display("reqd");
      manualControl(isCalibrated);
    
  }

  else{

      if (stepper1.distanceToGo() == 0){
      isCalibrated = true;
      machineState = realTimeMode;
      tm.display("done");
      realTime = true;
      Serial.println("DONE");
      }
    }

}

long currentMotorPos(){
  DateTime now = rtc.now();
  DateTime newYear(2026, 1, 1, 0, 0, 0);
  uint32_t nowUnixTime = now.unixtime();
  uint32_t newYearUnixTime = newYear.unixtime();
  uint32_t secondsSinceNewYear = nowUnixTime - newYearUnixTime;
   
  uint32_t motorPosRT = (uint64_t) secondsSinceNewYear * fullRotationMotorSteps / totalSecondsinYear;
//  preferences.putUInt("oldVal", motorPosRT);
  return motorPosRT;
  }

void manualControl(bool calibrated){

  potValue = analogRead(potPin);
  potValue = map(potValue, 0, 4095, 3000, -3000);

if(potValue > -900 && potValue<300){
  }else{
   stepper1.setSpeed(potValue);
   stepper1.runSpeed();
   realTime=false;
  }


if (calibrated && (millis() - lastUpdate >= updateInterval)) {
    lastUpdate = millis();
    if (realTime) {
      displayTime(rtc.now());
    } else {
      displayTime(simulatedTime(stepper1.currentPosition()));
    }
  }


}

void displayTime(DateTime timeObject) {
  char timeStr[10]; // Buffer to hold the formatted string
  int h = timeObject.hour();
  int m = timeObject.minute();
  // Determine if we show the dot (colon)
  bool showDot = (millis() / 1000) % 2;
  bool screenUpdate = (millis() / 500) % 2;
if(realTime){
  if (showDot) {
    snprintf(timeStr, sizeof(timeStr), "%02d.%02d", h, m);
  } else {
    snprintf(timeStr, sizeof(timeStr), "%02d%02d", h, m);
  }


  if (screenUpdate) {
    tm.display(String(timeStr));
    tm2.display(formatDate(timeObject.month(), timeObject.day()));
    }
  
} else {
 tm.display((int)timeObject.year());
 tm2.display(formatDate(timeObject.month(), timeObject.day()));
//tm.display(timeStr);
}

  
  
}

DateTime simulatedTime(long motorPosition) {
  uint32_t secondsSince2026 = (uint32_t)((uint64_t)totalSecondsinYear * motorPosition / fullRotationMotorSteps);
  
  return DateTime(DateTime(2026, 1, 1, 0, 0, 0).unixtime() + secondsSince2026);
}

String formatDate(int month, int day) {
  
  String months[] = {"Ja", "Fe", "mr", "Al", "ma", "Jn","Jl", "Au", "Se", "Oc", "No", "De"};
  
  String dayStr = (day < 10) ? "0" + String(day) : String(day);
  
  String monthStr = months[month - 1];  
  
  return monthStr + dayStr;
}

int motorStep2seconds(int motorStep){
//  return motorStep*1460.0/9.0;
  return motorStep*172;
  }

void updateMotor(){
  targetPos = currentMotorPos();
  stepper1.moveTo(targetPos);

  Serial.print("Target updated to: ");
  Serial.println(targetPos);
  Serial.print("Current Pos: ");
  Serial.print(stepper1.currentPosition());
  Serial.print(" Distance to go: ");
  Serial.println(stepper1.distanceToGo());
  Serial.println("RUNING!");
  stepper1.runToPosition();
  Serial.print("Current Pos: ");
  Serial.print(stepper1.currentPosition());
  Serial.print(" Distance to go: ");
  Serial.println(stepper1.distanceToGo());
  Serial.println("DONE!!");
  }

  void updateMotorManual(){
manual
  stepper1.moveTo(97200);

  Serial.print("Target updated to: ");
  Serial.println(targetPos);
  Serial.print("Current Pos: ");
  Serial.print(stepper1.currentPosition());
  Serial.print(" Distance to go: ");
  Serial.println(stepper1.distanceToGo());
  Serial.println("RUNING!");
  stepper1.runToPosition();
  Serial.print("Current Pos: ");
  Serial.print(stepper1.currentPosition());
  Serial.print(" Distance to go: ");
  Serial.println(stepper1.distanceToGo());
  Serial.println("DONE!!");
  
  }