Talking Portal 2 Turret Gun

Fully functional, automatic talking turret gun from the video game Portal 2!

Mar 11, 2019

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Project description

Code

Portal turret w Radio (RED)

c_cpp

Code used for turret. This includes code that will enable control by the Master Turret Control, featured on another page. Different flavours require tweaking.

1//
2/* Portal Turret - Option With Radio!!
3 *  Chris Nowak - Feb   2019
4 *  https://www.instructables.com/member/ChrisN219/
5 *  https://create.arduino.cc/projecthub/Novachris/talking-portal-2-turret-gun-637bf3
6   *  
7 *  This code includes all the features needed to perform the Cara Mia Opera,   
8 *  Chat Time and Manual mode, as controlled by the Maseter Turret Control (MTC).
9   *  The MTC is a separate controller featured on another build.  The turret
10 *   will operate autonomously using this code without the MTC.
11 *  
12 *  The   code is built to work with three turrets, but each will operate independently.
13   *  Lots of debugging code left in.  Use or clean up as desired.  It's mostly debugged,
14   *  but isn't perfect.  Given the price you paid, I figure that's ok! ;)
15 * =================   RED ====================
16 */
17
18#include <Wire.h>
19#include <VL53L0X.h>
20#include   "Arduino.h"
21#include <SoftwareSerial.h>
22#include <Servo.h>
23#include <DFMiniMp3.h>
24#include   <RF24.h>
25#include <RF24Network.h>
26#include <SPI.h>
27class Mp3Notify
28{
29public:
30   static void OnError(uint8_t errorCode)
31  {
32    // see DfMp3_Error for code   meaning
33    Serial.println();
34    Serial.print("Com Error ");
35    Serial.println(errorCode);
36   }
37  static void OnPlayFinished(uint8_t globalTrack)
38  {
39    Serial.println();
40     Serial.print("Play finished for #");
41    Serial.println(globalTrack);   
42   }
43  static void OnCardOnline(uint8_t code)
44  {
45    Serial.println();
46     Serial.print("Card online ");
47    Serial.println(code);     
48  }
49   static void OnCardInserted(uint8_t code)
50  {
51    Serial.println();
52    Serial.print("Card   inserted ");
53    Serial.println(code); 
54  }
55  static void OnCardRemoved(uint8_t   code)
56  {
57    Serial.println();
58    Serial.print("Card removed ");
59     Serial.println(code);  
60  }
61}; 
62
63Servo servo_pivot;
64Servo servo_wings;
65Servo   servo_pitch;
66VL53L0X sensor;
67
68// Setup for soundcard
69SoftwareSerial   secondarySerial(4, 2); // RX, TX
70DFMiniMp3<SoftwareSerial, Mp3Notify> mp3(secondarySerial);
71
72//   Setup for radio
73RF24 radio(10, 9);               // nRF24L01 (CE,CSN)
74RF24Network   network(radio);      // Include the radio in the network
75const uint64_t this_node   = 01;   // This turret  - Red - in Octal format ( 04,031, etc)
76const uint64_t   WHT = 02;      // Turret 02 - White
77const uint64_t BLU = 03;      // Turret 03   - Blue
78const uint64_t MTC = 00;      // Master Turret Control
79unsigned long   previousMillis1 = 0;
80unsigned long previousMillis2 = 0;
81unsigned long previousMillis3   = 0;
82byte LED_LH_up = A1;
83byte LED_LH_down = A2;
84byte LED_CENTRE = A3;
85byte   LED_RH_up = 7;
86byte LED_RH_down = 8;
87byte PIVOT = 6; //white
88byte WINGS   = 3; //yellow
89byte PITCH = 5; //blue
90byte parkPIVOT = 96;  //Smaller number   rotates CW as viewed from the top
91byte posPIVOT = 96;
92byte maxPIVOT = 116;
93byte   minPIVOT = 76;
94byte WINGclose = 165;
95byte WINGopen = 10;
96byte WINGpos =   160;
97byte parkPITCH = 86;
98byte posPITCH = 86;
99byte maxPITCH = 96;
100byte   minPITCH = 75;
101byte pos = 90;
102byte pulse = 20;
103byte pitchCW = 1;
104byte   pivotCW = 1;
105byte randomWake;
106byte randomOpen;
107byte randomFalse;
108byte   randomStart;
109byte randomDisengage;
110int triggerDistance = 300; 
111byte buttonStatus;
112byte   busyRed = 1;
113byte restModeWhite;
114byte goState;
115int x;
116int y;
117byte   pb1State; // Fire
118byte pb2State; // say random comment
119byte pb3State;
120byte   randomPic;
121// Payload from Master Turret Control (MTC)
122// int payload [] =   {0, 1,    2    ,    3    ,     4   ,    5   };
123// int payload [] = {x, y, pb1State,   pb2State, pb3State, goState};
124int payload [6];
125
126/* This is the "conversation"   map for "Chat Time".  
127 * 0-99 = Red Turret sayings 
128 * 100-199 = White   Turret sayings 
129 * 200-299 = Blue Turret sayings
130 * Files on all SD cards   are saved as 0-100.
131 * Add 100 to the file number here for White, 200 for Blue.
132   * File 204 would be BLUE turret, file number 0004.
133 */ 
134int chatSayings []   = {
135  0,              // Start pause on i = 0, followed by "rounds"...
136   204, 164, 25,   // 1
137  205, 127, 76,   // 2
138  208, 162, 65,   // 3
139  143,   230, 23,   // 4
140  130, 41, 225,   // 5
141  153, 31, 133,   // 6
142  234, 49,   155,   // 7
143  229, 175, 74,   // 8
144  231, 58, 226,   // 9
145  161, 223, 59,    // 10
146  227, 68, 236,   // 11
147  136, 50, 224,   // 12
148  34, 160, 78,     // 13
149  222, 42         // End
150};
151
152/* This is the RED and WHITE   turret timing map.  They share sayings.
153 *  These timings correspond to the time   needed
154 *  to play the individual sayings, in milliseconds.
155 *  Change the   sayings above as desired, but do not change these timings.
156 *  For example, i   = 2 will take 0.8 seconds (NormalTimings[2])
157 *  to play the chatSayings[2] file.
158   */
159int NormalTimings [] = {
1601000,  // Start pause on i = 0, followed by "rounds"...
1612600,   800, 2800, 900, 1700, 1600, 1300, 2500, 1400, 1900,     // 1 - 10
1621600, 2300,   800, 3000, 300, 100, 200, 0, 0, 300,              // 11 - 20
163298000, 1300, 2600,   1300, 1400, 2100, 1900, 1600, 800, 1700,  // 21 - 30
1641100, 1000, 1000, 2100,   1500, 1300, 1100, 800, 1200, 1000,    // 31 - 40
1652200, 1700, 1300, 1400, 1500,   1000, 2000, 500, 2700, 9000,    // 41 - 50
1661100, 1200, 900, 2400, 1200, 1100,   2100, 2000, 2500, 1700,    // 51 - 60
1671100, 1000, 1100, 500, 1900, 0, 1300, 2100,   1700, 900,        // 61 - 70
1681100, 800, 1100, 1700, 1100, 1100, 1500, 1500, 500,   900,      // 71 - 80
1692100                                                          //   81
170};
171/* This is the BLUE turret timing map.
172 *  These timings correspond   to the time needed
173 *  to play the individual sayings, in seconds.
174 *  For   example, i = 2 will take 0.9 seconds (DefectiveTimings[2])
175 *  to play the chatSayings   [2] file.
176 */
177int DefectiveTimings [] = {
1781000,   // Start pause on i =   0, followed by "rounds"...
1791700, 900, 2000, 600, 1100, 1800, 1900, 3000, 1500,   800,    // 1 - 10
1802100, 800, 1900, 900, 3200, 2700, 0, 0, 0, 2000,            //   11 - 20
1814400, 800, 3200, 900, 1400, 2000, 2100, 1200, 1300, 1000,   // 21 - 30
1821100,   1400, 2100, 1000, 1600, 1000, 1200                    // 31 - 40
183};
184///////////////////////////////////////////////////////////////////   
185//======================= SETUP =================================//
186///////////////////////////////////////////////////////////////////
187void   setup(){
188   secondarySerial.begin(9600);//
189   Serial.begin(9600);//
190   mp3.begin();
191    mp3.setVolume(22);
192   Wire.begin();
193   SPI.begin();  // Radio setup
194    radio.begin();
195   radio.setPALevel(RF24_PA_LOW); // set radio to low power.   All near each other
196   radio.setDataRate(RF24_2MBPS); // I find this works   best with multiple radios
197   network.begin(70, this_node);  //(channel, node   address)
198   sensor_read();
199   pinMode(LED_LH_up, OUTPUT);
200   pinMode(LED_LH_down,   OUTPUT);
201   pinMode(LED_CENTRE, OUTPUT);
202   pinMode(LED_RH_up, OUTPUT);
203    pinMode(LED_RH_down, OUTPUT);
204   digitalWrite(LED_CENTRE, HIGH);
205   activate_servos();
206    servo_wings.write(WINGopen); // open wings
207   servo_pivot.write(parkPIVOT);   // park pivot
208   servo_pitch.write(parkPITCH); // park pitch
209   randomWake   = random(1, 3);
210   mp3.playMp3FolderTrack(1); // play waking up comment
211   delay(2000);
212    servo_wings.write(WINGclose); // close wings
213   delay(1500);
214   digitalWrite(LED_CENTRE,   LOW);
215   turn_off_servos();
216   busyRed = 0;
217}
218///////////////////////////////////////////////////////////////////
219//=======================   MAIN LOOP =============================//
220///////////////////////////////////////////////////////////////////
221void   loop(){
222  while (sensor.readRangeSingleMillimeters()>triggerDistance) { //nothing   in front of sensor, do nothing
223    ReadNet();
224    WriteNet();
225    output_sensor();
226     if (payload[5] == 1) { // Conditions used with MTC. Turret will work automatically   without MTC
227      delay(500);
228      WriteNet();
229      Cara_Mia(); // Opera   time!!  
230    }
231    else if (payload[5] == 2) { 
232      delay(500);
233      WriteNet();
234       Chatty_time(); // Chatty time!!}
235      ReadNet();
236    }
237    else   if (payload[5] == 3) {
238      delay(500);
239      WriteNet();
240      ManualControl   (); // Manual Control
241    }     
242  }
243  
244  if (sensor.readRangeSingleMillimeters()<triggerDistance){   //something in front of sensor
245    delay (200); //wait before checking again   to see if someone still there...
246    if (sensor.readRangeSingleMillimeters()<triggerDistance){   //someone there (not false trigger)
247      busyRed = 1;
248      ReadNet();
249       WriteNet();
250      output_sensor();
251      activate_servos(); // wake   up servos
252      activate(); // open wings and say "I see you" comment
253      if   (sensor.readRangeSingleMillimeters()>triggerDistance){ // opened up and person gone
254         falseActivate();  //say "where'd you go?" comment and close up
255        delay   (2000);
256        scanArea(); //perform scan of area
257      }
258      else {   // someone definitely there - open fire!! 
259        engage();
260        delay   (2400); 
261        for (int j=0; j <= 2; j++){
262          if (sensor.readRangeSingleMillimeters()<triggerDistance){   // as long as someone there...
263            for (int i=0; i <= 25; i++){ // fire   for a short period
264              fire();} // shoot them...
265            output_sensor();
266           }
267        }
268      }      
269    output_sensor(); 
270    disengage();   // no more target, stop firing and prepare to close
271  }
272  else {
273    output_sensor();
274     delay(350);
275    }
276  }
277}
278
279///////////////////////////////////////////////////////////////////
280//=======================   SUBROUTINES ===========================//
281///////////////////////////////////////////////////////////////////
282
283//=====   read the VLX53 sensor  =====//
284void sensor_read(){  
285  sensor.init();
286   sensor.setTimeout(100);
287  // lower the return signal rate limit (default is   0.25 MCPS)
288  sensor.setSignalRateLimit(0.25); // started with 0.1
289  // increase   laser pulse periods (defaults are 14 and 10 PCLKs)
290  sensor.setVcselPulsePeriod(VL53L0X::VcselPeriodPreRange,   14); //started with 18
291  sensor.setVcselPulsePeriod(VL53L0X::VcselPeriodFinalRange,   10); //started with 14
292}
293//=====  monitor output for debugging  =====//
294void   output_sensor(){ // Option out or delete if not interested.
295  Serial.println();
296   Serial.print ("-RED-  ");
297  Serial.print("Distance "); Serial.print(sensor.readRangeSingleMillimeters());   Serial.print ("\	");
298  if (sensor.timeoutOccurred()) { Serial.print(" TIMEOUT");   }
299  Serial.print(F("Pivot< ")); Serial.print (posPIVOT); Serial.print ("   ");
300   Serial.print(F("Pitch< ")); Serial.print (posPITCH); Serial.print ("   ");
301   Serial.print(F("Wings< ")); Serial.print (WINGpos); Serial.print ("   ");
302   Serial.print(F("busyRed: "));Serial.print (busyRed); Serial.print ("   ");
303   Serial.print(F("x :"));Serial.print (payload[0]); Serial.print ("\	");
304   Serial.print(F("y :"));Serial.print (payload[1]); Serial.print ("\	");
305   Serial.print(F("pb1 :"));Serial.print (payload[2]); Serial.print ("   ");
306   Serial.print(F("pb2 :"));Serial.print (payload[3]); Serial.print ("   ");
307   Serial.print(F("pb3 :"));Serial.print (payload[4]); Serial.print ("   ");
308   Serial.print(F("goState: ")); Serial.print(payload[5]);Serial.print ("   ");
309}
310//=====   update servo positions =====//
311void increment_servos(){ 
312  if (pitchCW ==   0) posPITCH = posPITCH - 3; // the higher the number, the jerkier the motion
313   if (pitchCW == 1) posPITCH = posPITCH + 3;
314  if (pivotCW == 0) posPIVOT = posPIVOT   - 3;
315  if (pivotCW == 1) posPIVOT = posPIVOT + 3;
316  if (posPIVOT >= maxPIVOT)   pivotCW = 0;
317  if (posPIVOT <= minPIVOT) pivotCW = 1;
318  if (posPITCH >= maxPITCH)   pitchCW = 0;
319  if (posPITCH <= minPITCH) pitchCW = 1;
320}
321///////////////////////////////////////////////////////////////////
322//=======================   ACTIVATE ==============================//
323///////////////////////////////////////////////////////////////////
324void   activate(){ // open up wings and say something
325  busyRed = 1;
326  ReadNet();
327   WriteNet();
328  output_sensor();
329  digitalWrite(LED_CENTRE, HIGH); //LED eye   on
330  randomOpen = random(3, 6);// pick random opening comment
331  mp3.playMp3FolderTrack(randomOpen);   // play random "I see you" comment 
332  servo_wings.write(WINGopen); // open   wings
333  output_sensor();
334  delay (3400);
335}
336///////////////////////////////////////////////////////////////////
337//====================FALSE   ACTIVATE ============================//
338///////////////////////////////////////////////////////////////////
339void   falseActivate(){ // 
340  busyRed = 1;
341  ReadNet();
342  WriteNet();
343  output_sensor();
344   randomFalse = random(6, 9);// pick random opening comment
345  mp3.playMp3FolderTrack(randomFalse);   // play random "where'd you go?" comment
346  delay (1800);
347}
348///////////////////////////////////////////////////////////////////
349//=======================   SCAN AREA =============================//
350///////////////////////////////////////////////////////////////////
351void   scanArea(){ // continue scanning for a bit after falseActivate
352  busyRed = 1;
353   ReadNet();
354  WriteNet();
355  output_sensor();
356  mp3.playMp3FolderTrack(2);   // "searching..."
357  servo_pitch.write(parkPITCH);
358  delay(1600);
359  servo_pitch.detach();
360   servo_wings.detach();
361  mp3.playMp3FolderTrack(21);
362  for (int i=0; i <=   220; i++){ //scan for a little bit...
363    output_sensor();
364    if (pivotCW   == 0) posPIVOT = posPIVOT - 1; // increment one step CW if CW = 0
365    if (pivotCW   == 1) posPIVOT = posPIVOT + 1; // otherwise go one step other direction
366    if   (posPIVOT >= maxPIVOT) pivotCW = 0; // if max rotation clockwise, switch to counterclockwise
367     if (posPIVOT <= minPIVOT) pivotCW = 1; // if min rotation counterclockwise,switch   to clockwise
368    servo_pivot.write(posPIVOT);
369    if (sensor.readRangeSingleMillimeters()<triggerDistance/2){   //Somebody stepped in front
370      i = 350;
371      engage();  
372      delay   (2500);
373      activate_servos();
374      for (int i=0; i <= 25; i++){ // fire   for a short period
375        fire(); // shoot them...
376      } 
377    }
378   }
379  activate_servos(); // fully scanned with no one passing...
380  servo_pivot.write(parkPIVOT);   //close up.
381  output_sensor();
382  delay(1200);
383}
384///////////////////////////////////////////////////////////////////
385//=======================   ENGAGE ================================//
386///////////////////////////////////////////////////////////////////
387void   engage(){ //smartass comment before firing
388  busyRed = 1;
389  ReadNet();
390   WriteNet();
391  output_sensor();
392  randomStart = random(9, 12);// pick random   smartass comment before firing
393  mp3.playMp3FolderTrack(randomStart);
394  output_sensor();
395}
396///////////////////////////////////////////////////////////////////
397//=======================   FIRE ==================================//
398///////////////////////////////////////////////////////////////////
399void   fire(){ // fire sound and turret movement
400  
401  ReadNet();
402  WriteNet();
403   output_sensor();
404  mp3.playMp3FolderTrack(15);
405  servo_pivot.write(posPIVOT);
406   servo_pitch.write(posPITCH);
407  digitalWrite(LED_CENTRE, HIGH);
408  digitalWrite(LED_LH_up,   LOW);    
409  digitalWrite(LED_LH_down, HIGH);        
410  digitalWrite(LED_RH_up,   LOW);                      
411  digitalWrite(LED_RH_down, HIGH);     
412  delay(pulse*2);   
413  servo_pivot.write(posPIVOT);
414  servo_pitch.write(posPITCH);
415  digitalWrite(LED_LH_up,   HIGH);    
416  digitalWrite(LED_LH_down, LOW);        
417  digitalWrite(LED_RH_up,   HIGH);                      
418  digitalWrite(LED_RH_down, LOW);  
419  delay(pulse);   
420  digitalWrite(LED_LH_up, LOW); 
421  digitalWrite(LED_RH_up, LOW);            
422   increment_servos(); // update servo position
423}
424///////////////////////////////////////////////////////////////////
425//=======================   DISENGAGE =============================//
426///////////////////////////////////////////////////////////////////
427void   disengage(){ //re-align wings (pitch) and pivot home before closing wings
428  busyRed   = 1;
429  ReadNet();
430  WriteNet();
431  output_sensor();
432  delay(2000);
433   randomDisengage = random(12, 15);
434  mp3.playMp3FolderTrack(randomDisengage);   // "Goodbye" comment
435  servo_pivot.write(parkPIVOT);
436  servo_pitch.write(parkPITCH);
437   digitalWrite(LED_LH_up, LOW);    
438  digitalWrite(LED_LH_down, LOW);        
439   digitalWrite(LED_RH_up, LOW);                      
440  digitalWrite(LED_RH_down,   LOW); // turn off firing LEDs
441  delay (2000);
442  servo_wings.write(WINGclose);
443   delay (1500);
444  digitalWrite(LED_CENTRE, LOW); // turn off central LED
445   delay (100);
446  output_sensor();
447  turn_off_servos();
448  busyRed = 0;
449}
450void   turn_off_servos(){ // detach servos so they're not engaged
451  servo_pivot.detach();
452   servo_pitch.detach();
453  servo_wings.detach();  
454}
455void activate_servos(){   // activate servos for movement
456  servo_pivot.attach(PIVOT);
457  servo_pitch.attach(PITCH);
458   servo_wings.attach(WINGS);  
459}
460
461///////////////////////////////////////////////////////////////////   
462//======================= CARA MIA OPERA ========================//
463///////////////////////////////////////////////////////////////////
464void   Cara_Mia(){
465  busyRed = 1;
466  WriteNet();
467  digitalWrite(LED_CENTRE, HIGH);
468   int randomWingPos;
469  activate_servos();
470  unsigned long endTimer[] = {8200,   40000, 100000}; // 
471  unsigned long startTimer;
472  for (int i=0; i <= 2; i++)   {
473    startTimer = millis();
474    mp3.playMp3FolderTrack(100 + i);
475    while   (millis() < (startTimer + endTimer[i])){
476      ReadNet();
477      WriteNet();
478       if (payload[4] == 0) {
479        disengage();
480        busyRed = 0;
481         WriteNet();
482        return;}
483        //  debugging print below.  Delete   or comment out as desired.
484      Serial.print(F("millis() ")); Serial.print   (millis()); Serial.print ("   ");
485      Serial.print(F("startTimer ")); Serial.print   (startTimer); Serial.print ("   ");
486      Serial.print(F("endTimer ")); Serial.print   (endTimer[i]); Serial.print ("   ");
487      Serial.print(F("End Time "));   Serial.print (endTimer[i] + startTimer); Serial.print ("   ");
488      Serial.print(F("previousMillis1   ")); Serial.print (previousMillis1); Serial.print ("   ");
489      Serial.println();
490       if ((millis() - previousMillis1) >= (850 + (i * 100))) { // 1050
491        randomWingPos   = random(10 + (i*20), (60 + (i*20)));
492        servo_wings.write(randomWingPos);       
493        previousMillis1 = millis();    
494      }
495    } 
496  }
497   disengage();
498  busyRed = 0;
499  goState = 0;
500  mp3.stop();
501  ReadNet();
502   delay(1000);
503}
504///////////////////////////////////////////////////////////////////   
505//======================= CHATTY TIME ===========================//
506///////////////////////////////////////////////////////////////////
507void   Chatty_time(){
508  busyRed = 1;
509  WriteNet();
510  int i = 0;
511  int talk;
512   int saying;
513  int timeadder = 750;
514  int talkTime = NormalTimings[i];
515   int randomPivotPos;
516  activate_servos();
517  servo_wings.write(WINGopen);
518   digitalWrite(LED_CENTRE, HIGH);
519  do {
520    ReadNet();
521    WriteNet();
522     //output_sensor(); //  used for debugging...
523    if (i >= 43) { // end of   sequence
524      busyRed = 0;
525      WriteNet();
526      disengage();
527      return;
528     }
529    unsigned long currentMillis = millis(); // grab current time
530    if   ((unsigned long)(currentMillis - previousMillis3) >= talkTime) {
531      if (chatSayings[i]   < 100) { // RED Turret talking
532        talk = chatSayings[i];
533        saying   = chatSayings[i];
534        talkTime = (NormalTimings[saying] + timeadder); 
535       }
536      else if ((chatSayings[i] > 99) && (chatSayings[i] < 200)) { //   WHITE turret talking
537        talk = 0;
538        saying = chatSayings[i] - 100;
539         talkTime = (NormalTimings[saying] + timeadder);
540      }
541  
542      else   {  // BLUE turret talking
543        talk = 0;
544        saying = chatSayings[i]   - 200; // sound file # of BLUE
545        talkTime = (DefectiveTimings[saying] +   timeadder); // Time for that saying
546      }
547
548      if (talk == 0) {
549         digitalWrite(LED_CENTRE, LOW);
550      }
551      else {
552        digitalWrite(LED_CENTRE,   HIGH);
553        mp3.playMp3FolderTrack(talk);
554      }
555      randomPivotPos   = random(minPIVOT, maxPIVOT);
556      servo_pivot.write(randomPivotPos);
557      Serial.println();
558       Serial.print(F("i: ")); Serial.print (i); Serial.print ("\	");
559      Serial.print(F("chatSayings[i]   ")); Serial.print (chatSayings[i]); Serial.print ("\	");
560      Serial.print(F("Saying   ")); Serial.print (saying); Serial.print ("\	");
561      Serial.print(F("talk   ")); Serial.print (talk); Serial.print ("\	");
562      Serial.print(F("chat   time ")); Serial.print (talkTime); Serial.print ("\	");
563      Serial.print(F("busyRed:   "));Serial.print (busyRed); Serial.print ("   ");
564      previousMillis3 =   millis();
565      i++;
566    }
567  }
568  while (payload[4] == 1);
569  busyRed   = 0;
570  WriteNet();
571  digitalWrite(LED_CENTRE, LOW); 
572  disengage();
573}
574///////////////////////////////////////////////////////////////////   
575//======================= MANUAL CONTROL =======================//
576///////////////////////////////////////////////////////////////////
577void   ManualControl(){
578  int servoWings;
579  int servoPitch;
580  int servoPivot;
581   activate_servos();
582  servo_wings.write(WINGopen);
583  digitalWrite(LED_CENTRE,   HIGH);
584  ReadNet();  
585  do {
586    output_sensor();
587    ReadNet();
588     servoPivot = map(payload[0], 1023, 0, minPIVOT, maxPIVOT);  
589    servoPitch   = map(payload[1], 1023, 0, minPITCH, maxPITCH);  
590    servo_pivot.write(servoPivot);
591     servo_pitch.write(servoPitch);
592    unsigned long currentMillis = millis();   // grab current time
593    if (payload[3] == 0) {
594      if ((unsigned long)(currentMillis   - previousMillis1) >= 2500) {  
595      randomPic = random(1, 20);
596      mp3.playMp3FolderTrack(randomPic);
597       previousMillis1 = millis();
598      }
599    }
600    if (payload[2] == 0){
601       fire();
602    }  
603  }
604  while (payload[5] == 3);
605  disengage();
606   busyRed = 0;
607  WriteNet();
608  digitalWrite(LED_CENTRE, LOW); 
609}
610///////////////////////////////////////////////////////////////////
611//=========================   RECEIVING ===========================//
612///////////////////////////////////////////////////////////////////
613void   ReadNet(){
614  network.update();
615  if ( network.available() )  {
616    RF24NetworkHeader   header;
617    network.peek(header);
618    network.read(header, &payload, sizeof(payload));}   // Read the package        
619}
620///////////////////////////////////////////////////////////////////
621//=========================   SENDING =============================//
622///////////////////////////////////////////////////////////////////
623void   WriteNet(){
624  network.update();
625  RF24NetworkHeader header4(MTC);
626  bool   ok4 = network.write(header4, &busyRed, sizeof(busyRed));
627/*  if (ok4) { // used   for debugging...
628    Serial.print("MTC ok4  ");}
629  else {
630    Serial.print("-------   ");} 
631    */
632}
633
634

//
/* Portal Turret - Option With Radio!!
 *  Chris Nowak - Feb   2019
 *  https://www.instructables.com/member/ChrisN219/
 *  https://create.arduino.cc/projecthub/Novachris/talking-portal-2-turret-gun-637bf3
   *  
 *  This code includes all the features needed to perform the Cara Mia Opera,   
 *  Chat Time and Manual mode, as controlled by the Maseter Turret Control (MTC).
   *  The MTC is a separate controller featured on another build.  The turret
 *   will operate autonomously using this code without the MTC.
 *  
 *  The   code is built to work with three turrets, but each will operate independently.
   *  Lots of debugging code left in.  Use or clean up as desired.  It's mostly debugged,
   *  but isn't perfect.  Given the price you paid, I figure that's ok! ;)
 * =================   RED ====================
 */

#include <Wire.h>
#include <VL53L0X.h>
#include   "Arduino.h"
#include <SoftwareSerial.h>
#include <Servo.h>
#include <DFMiniMp3.h>
#include   <RF24.h>
#include <RF24Network.h>
#include <SPI.h>
class Mp3Notify
{
public:
   static void OnError(uint8_t errorCode)
  {
    // see DfMp3_Error for code   meaning
    Serial.println();
    Serial.print("Com Error ");
    Serial.println(errorCode);
   }
  static void OnPlayFinished(uint8_t globalTrack)
  {
    Serial.println();
     Serial.print("Play finished for #");
    Serial.println(globalTrack);   
   }
  static void OnCardOnline(uint8_t code)
  {
    Serial.println();
     Serial.print("Card online ");
    Serial.println(code);     
  }
   static void OnCardInserted(uint8_t code)
  {
    Serial.println();
    Serial.print("Card   inserted ");
    Serial.println(code); 
  }
  static void OnCardRemoved(uint8_t   code)
  {
    Serial.println();
    Serial.print("Card removed ");
     Serial.println(code);  
  }
}; 

Servo servo_pivot;
Servo servo_wings;
Servo   servo_pitch;
VL53L0X sensor;

// Setup for soundcard
SoftwareSerial   secondarySerial(4, 2); // RX, TX
DFMiniMp3<SoftwareSerial, Mp3Notify> mp3(secondarySerial);

//   Setup for radio
RF24 radio(10, 9);               // nRF24L01 (CE,CSN)
RF24Network   network(radio);      // Include the radio in the network
const uint64_t this_node   = 01;   // This turret  - Red - in Octal format ( 04,031, etc)
const uint64_t   WHT = 02;      // Turret 02 - White
const uint64_t BLU = 03;      // Turret 03   - Blue
const uint64_t MTC = 00;      // Master Turret Control
unsigned long   previousMillis1 = 0;
unsigned long previousMillis2 = 0;
unsigned long previousMillis3   = 0;
byte LED_LH_up = A1;
byte LED_LH_down = A2;
byte LED_CENTRE = A3;
byte   LED_RH_up = 7;
byte LED_RH_down = 8;
byte PIVOT = 6; //white
byte WINGS   = 3; //yellow
byte PITCH = 5; //blue
byte parkPIVOT = 96;  //Smaller number   rotates CW as viewed from the top
byte posPIVOT = 96;
byte maxPIVOT = 116;
byte   minPIVOT = 76;
byte WINGclose = 165;
byte WINGopen = 10;
byte WINGpos =   160;
byte parkPITCH = 86;
byte posPITCH = 86;
byte maxPITCH = 96;
byte   minPITCH = 75;
byte pos = 90;
byte pulse = 20;
byte pitchCW = 1;
byte   pivotCW = 1;
byte randomWake;
byte randomOpen;
byte randomFalse;
byte   randomStart;
byte randomDisengage;
int triggerDistance = 300; 
byte buttonStatus;
byte   busyRed = 1;
byte restModeWhite;
byte goState;
int x;
int y;
byte   pb1State; // Fire
byte pb2State; // say random comment
byte pb3State;
byte   randomPic;
// Payload from Master Turret Control (MTC)
// int payload [] =   {0, 1,    2    ,    3    ,     4   ,    5   };
// int payload [] = {x, y, pb1State,   pb2State, pb3State, goState};
int payload [6];

/* This is the "conversation"   map for "Chat Time".  
 * 0-99 = Red Turret sayings 
 * 100-199 = White   Turret sayings 
 * 200-299 = Blue Turret sayings
 * Files on all SD cards   are saved as 0-100.
 * Add 100 to the file number here for White, 200 for Blue.
   * File 204 would be BLUE turret, file number 0004.
 */ 
int chatSayings []   = {
  0,              // Start pause on i = 0, followed by "rounds"...
   204, 164, 25,   // 1
  205, 127, 76,   // 2
  208, 162, 65,   // 3
  143,   230, 23,   // 4
  130, 41, 225,   // 5
  153, 31, 133,   // 6
  234, 49,   155,   // 7
  229, 175, 74,   // 8
  231, 58, 226,   // 9
  161, 223, 59,    // 10
  227, 68, 236,   // 11
  136, 50, 224,   // 12
  34, 160, 78,     // 13
  222, 42         // End
};

/* This is the RED and WHITE   turret timing map.  They share sayings.
 *  These timings correspond to the time   needed
 *  to play the individual sayings, in milliseconds.
 *  Change the   sayings above as desired, but do not change these timings.
 *  For example, i   = 2 will take 0.8 seconds (NormalTimings[2])
 *  to play the chatSayings[2] file.
   */
int NormalTimings [] = {
1000,  // Start pause on i = 0, followed by "rounds"...
2600,   800, 2800, 900, 1700, 1600, 1300, 2500, 1400, 1900,     // 1 - 10
1600, 2300,   800, 3000, 300, 100, 200, 0, 0, 300,              // 11 - 20
298000, 1300, 2600,   1300, 1400, 2100, 1900, 1600, 800, 1700,  // 21 - 30
1100, 1000, 1000, 2100,   1500, 1300, 1100, 800, 1200, 1000,    // 31 - 40
2200, 1700, 1300, 1400, 1500,   1000, 2000, 500, 2700, 9000,    // 41 - 50
1100, 1200, 900, 2400, 1200, 1100,   2100, 2000, 2500, 1700,    // 51 - 60
1100, 1000, 1100, 500, 1900, 0, 1300, 2100,   1700, 900,        // 61 - 70
1100, 800, 1100, 1700, 1100, 1100, 1500, 1500, 500,   900,      // 71 - 80
2100                                                          //   81
};
/* This is the BLUE turret timing map.
 *  These timings correspond   to the time needed
 *  to play the individual sayings, in seconds.
 *  For   example, i = 2 will take 0.9 seconds (DefectiveTimings[2])
 *  to play the chatSayings   [2] file.
 */
int DefectiveTimings [] = {
1000,   // Start pause on i =   0, followed by "rounds"...
1700, 900, 2000, 600, 1100, 1800, 1900, 3000, 1500,   800,    // 1 - 10
2100, 800, 1900, 900, 3200, 2700, 0, 0, 0, 2000,            //   11 - 20
4400, 800, 3200, 900, 1400, 2000, 2100, 1200, 1300, 1000,   // 21 - 30
1100,   1400, 2100, 1000, 1600, 1000, 1200                    // 31 - 40
};
///////////////////////////////////////////////////////////////////   
//======================= SETUP =================================//
///////////////////////////////////////////////////////////////////
void   setup(){
   secondarySerial.begin(9600);//
   Serial.begin(9600);//
   mp3.begin();
    mp3.setVolume(22);
   Wire.begin();
   SPI.begin();  // Radio setup
    radio.begin();
   radio.setPALevel(RF24_PA_LOW); // set radio to low power.   All near each other
   radio.setDataRate(RF24_2MBPS); // I find this works   best with multiple radios
   network.begin(70, this_node);  //(channel, node   address)
   sensor_read();
   pinMode(LED_LH_up, OUTPUT);
   pinMode(LED_LH_down,   OUTPUT);
   pinMode(LED_CENTRE, OUTPUT);
   pinMode(LED_RH_up, OUTPUT);
    pinMode(LED_RH_down, OUTPUT);
   digitalWrite(LED_CENTRE, HIGH);
   activate_servos();
    servo_wings.write(WINGopen); // open wings
   servo_pivot.write(parkPIVOT);   // park pivot
   servo_pitch.write(parkPITCH); // park pitch
   randomWake   = random(1, 3);
   mp3.playMp3FolderTrack(1); // play waking up comment
   delay(2000);
    servo_wings.write(WINGclose); // close wings
   delay(1500);
   digitalWrite(LED_CENTRE,   LOW);
   turn_off_servos();
   busyRed = 0;
}
///////////////////////////////////////////////////////////////////
//=======================   MAIN LOOP =============================//
///////////////////////////////////////////////////////////////////
void   loop(){
  while (sensor.readRangeSingleMillimeters()>triggerDistance) { //nothing   in front of sensor, do nothing
    ReadNet();
    WriteNet();
    output_sensor();
     if (payload[5] == 1) { // Conditions used with MTC. Turret will work automatically   without MTC
      delay(500);
      WriteNet();
      Cara_Mia(); // Opera   time!!  
    }
    else if (payload[5] == 2) { 
      delay(500);
      WriteNet();
       Chatty_time(); // Chatty time!!}
      ReadNet();
    }
    else   if (payload[5] == 3) {
      delay(500);
      WriteNet();
      ManualControl   (); // Manual Control
    }     
  }
  
  if (sensor.readRangeSingleMillimeters()<triggerDistance){   //something in front of sensor
    delay (200); //wait before checking again   to see if someone still there...
    if (sensor.readRangeSingleMillimeters()<triggerDistance){   //someone there (not false trigger)
      busyRed = 1;
      ReadNet();
       WriteNet();
      output_sensor();
      activate_servos(); // wake   up servos
      activate(); // open wings and say "I see you" comment
      if   (sensor.readRangeSingleMillimeters()>triggerDistance){ // opened up and person gone
         falseActivate();  //say "where'd you go?" comment and close up
        delay   (2000);
        scanArea(); //perform scan of area
      }
      else {   // someone definitely there - open fire!! 
        engage();
        delay   (2400); 
        for (int j=0; j <= 2; j++){
          if (sensor.readRangeSingleMillimeters()<triggerDistance){   // as long as someone there...
            for (int i=0; i <= 25; i++){ // fire   for a short period
              fire();} // shoot them...
            output_sensor();
           }
        }
      }      
    output_sensor(); 
    disengage();   // no more target, stop firing and prepare to close
  }
  else {
    output_sensor();
     delay(350);
    }
  }
}

///////////////////////////////////////////////////////////////////
//=======================   SUBROUTINES ===========================//
///////////////////////////////////////////////////////////////////

//=====   read the VLX53 sensor  =====//
void sensor_read(){  
  sensor.init();
   sensor.setTimeout(100);
  // lower the return signal rate limit (default is   0.25 MCPS)
  sensor.setSignalRateLimit(0.25); // started with 0.1
  // increase   laser pulse periods (defaults are 14 and 10 PCLKs)
  sensor.setVcselPulsePeriod(VL53L0X::VcselPeriodPreRange,   14); //started with 18
  sensor.setVcselPulsePeriod(VL53L0X::VcselPeriodFinalRange,   10); //started with 14
}
//=====  monitor output for debugging  =====//
void   output_sensor(){ // Option out or delete if not interested.
  Serial.println();
   Serial.print ("-RED-  ");
  Serial.print("Distance "); Serial.print(sensor.readRangeSingleMillimeters());   Serial.print ("\	");
  if (sensor.timeoutOccurred()) { Serial.print(" TIMEOUT");   }
  Serial.print(F("Pivot< ")); Serial.print (posPIVOT); Serial.print ("   ");
   Serial.print(F("Pitch< ")); Serial.print (posPITCH); Serial.print ("   ");
   Serial.print(F("Wings< ")); Serial.print (WINGpos); Serial.print ("   ");
   Serial.print(F("busyRed: "));Serial.print (busyRed); Serial.print ("   ");
   Serial.print(F("x :"));Serial.print (payload[0]); Serial.print ("\	");
   Serial.print(F("y :"));Serial.print (payload[1]); Serial.print ("\	");
   Serial.print(F("pb1 :"));Serial.print (payload[2]); Serial.print ("   ");
   Serial.print(F("pb2 :"));Serial.print (payload[3]); Serial.print ("   ");
   Serial.print(F("pb3 :"));Serial.print (payload[4]); Serial.print ("   ");
   Serial.print(F("goState: ")); Serial.print(payload[5]);Serial.print ("   ");
}
//=====   update servo positions =====//
void increment_servos(){ 
  if (pitchCW ==   0) posPITCH = posPITCH - 3; // the higher the number, the jerkier the motion
   if (pitchCW == 1) posPITCH = posPITCH + 3;
  if (pivotCW == 0) posPIVOT = posPIVOT   - 3;
  if (pivotCW == 1) posPIVOT = posPIVOT + 3;
  if (posPIVOT >= maxPIVOT)   pivotCW = 0;
  if (posPIVOT <= minPIVOT) pivotCW = 1;
  if (posPITCH >= maxPITCH)   pitchCW = 0;
  if (posPITCH <= minPITCH) pitchCW = 1;
}
///////////////////////////////////////////////////////////////////
//=======================   ACTIVATE ==============================//
///////////////////////////////////////////////////////////////////
void   activate(){ // open up wings and say something
  busyRed = 1;
  ReadNet();
   WriteNet();
  output_sensor();
  digitalWrite(LED_CENTRE, HIGH); //LED eye   on
  randomOpen = random(3, 6);// pick random opening comment
  mp3.playMp3FolderTrack(randomOpen);   // play random "I see you" comment 
  servo_wings.write(WINGopen); // open   wings
  output_sensor();
  delay (3400);
}
///////////////////////////////////////////////////////////////////
//====================FALSE   ACTIVATE ============================//
///////////////////////////////////////////////////////////////////
void   falseActivate(){ // 
  busyRed = 1;
  ReadNet();
  WriteNet();
  output_sensor();
   randomFalse = random(6, 9);// pick random opening comment
  mp3.playMp3FolderTrack(randomFalse);   // play random "where'd you go?" comment
  delay (1800);
}
///////////////////////////////////////////////////////////////////
//=======================   SCAN AREA =============================//
///////////////////////////////////////////////////////////////////
void   scanArea(){ // continue scanning for a bit after falseActivate
  busyRed = 1;
   ReadNet();
  WriteNet();
  output_sensor();
  mp3.playMp3FolderTrack(2);   // "searching..."
  servo_pitch.write(parkPITCH);
  delay(1600);
  servo_pitch.detach();
   servo_wings.detach();
  mp3.playMp3FolderTrack(21);
  for (int i=0; i <=   220; i++){ //scan for a little bit...
    output_sensor();
    if (pivotCW   == 0) posPIVOT = posPIVOT - 1; // increment one step CW if CW = 0
    if (pivotCW   == 1) posPIVOT = posPIVOT + 1; // otherwise go one step other direction
    if   (posPIVOT >= maxPIVOT) pivotCW = 0; // if max rotation clockwise, switch to counterclockwise
     if (posPIVOT <= minPIVOT) pivotCW = 1; // if min rotation counterclockwise,switch   to clockwise
    servo_pivot.write(posPIVOT);
    if (sensor.readRangeSingleMillimeters()<triggerDistance/2){   //Somebody stepped in front
      i = 350;
      engage();  
      delay   (2500);
      activate_servos();
      for (int i=0; i <= 25; i++){ // fire   for a short period
        fire(); // shoot them...
      } 
    }
   }
  activate_servos(); // fully scanned with no one passing...
  servo_pivot.write(parkPIVOT);   //close up.
  output_sensor();
  delay(1200);
}
///////////////////////////////////////////////////////////////////
//=======================   ENGAGE ================================//
///////////////////////////////////////////////////////////////////
void   engage(){ //smartass comment before firing
  busyRed = 1;
  ReadNet();
   WriteNet();
  output_sensor();
  randomStart = random(9, 12);// pick random   smartass comment before firing
  mp3.playMp3FolderTrack(randomStart);
  output_sensor();
}
///////////////////////////////////////////////////////////////////
//=======================   FIRE ==================================//
///////////////////////////////////////////////////////////////////
void   fire(){ // fire sound and turret movement
  
  ReadNet();
  WriteNet();
   output_sensor();
  mp3.playMp3FolderTrack(15);
  servo_pivot.write(posPIVOT);
   servo_pitch.write(posPITCH);
  digitalWrite(LED_CENTRE, HIGH);
  digitalWrite(LED_LH_up,   LOW);    
  digitalWrite(LED_LH_down, HIGH);        
  digitalWrite(LED_RH_up,   LOW);                      
  digitalWrite(LED_RH_down, HIGH);     
  delay(pulse*2);   
  servo_pivot.write(posPIVOT);
  servo_pitch.write(posPITCH);
  digitalWrite(LED_LH_up,   HIGH);    
  digitalWrite(LED_LH_down, LOW);        
  digitalWrite(LED_RH_up,   HIGH);                      
  digitalWrite(LED_RH_down, LOW);  
  delay(pulse);   
  digitalWrite(LED_LH_up, LOW); 
  digitalWrite(LED_RH_up, LOW);            
   increment_servos(); // update servo position
}
///////////////////////////////////////////////////////////////////
//=======================   DISENGAGE =============================//
///////////////////////////////////////////////////////////////////
void   disengage(){ //re-align wings (pitch) and pivot home before closing wings
  busyRed   = 1;
  ReadNet();
  WriteNet();
  output_sensor();
  delay(2000);
   randomDisengage = random(12, 15);
  mp3.playMp3FolderTrack(randomDisengage);   // "Goodbye" comment
  servo_pivot.write(parkPIVOT);
  servo_pitch.write(parkPITCH);
   digitalWrite(LED_LH_up, LOW);    
  digitalWrite(LED_LH_down, LOW);        
   digitalWrite(LED_RH_up, LOW);                      
  digitalWrite(LED_RH_down,   LOW); // turn off firing LEDs
  delay (2000);
  servo_wings.write(WINGclose);
   delay (1500);
  digitalWrite(LED_CENTRE, LOW); // turn off central LED
   delay (100);
  output_sensor();
  turn_off_servos();
  busyRed = 0;
}
void   turn_off_servos(){ // detach servos so they're not engaged
  servo_pivot.detach();
   servo_pitch.detach();
  servo_wings.detach();  
}
void activate_servos(){   // activate servos for movement
  servo_pivot.attach(PIVOT);
  servo_pitch.attach(PITCH);
   servo_wings.attach(WINGS);  
}

///////////////////////////////////////////////////////////////////   
//======================= CARA MIA OPERA ========================//
///////////////////////////////////////////////////////////////////
void   Cara_Mia(){
  busyRed = 1;
  WriteNet();
  digitalWrite(LED_CENTRE, HIGH);
   int randomWingPos;
  activate_servos();
  unsigned long endTimer[] = {8200,   40000, 100000}; // 
  unsigned long startTimer;
  for (int i=0; i <= 2; i++)   {
    startTimer = millis();
    mp3.playMp3FolderTrack(100 + i);
    while   (millis() < (startTimer + endTimer[i])){
      ReadNet();
      WriteNet();
       if (payload[4] == 0) {
        disengage();
        busyRed = 0;
         WriteNet();
        return;}
        //  debugging print below.  Delete   or comment out as desired.
      Serial.print(F("millis() ")); Serial.print   (millis()); Serial.print ("   ");
      Serial.print(F("startTimer ")); Serial.print   (startTimer); Serial.print ("   ");
      Serial.print(F("endTimer ")); Serial.print   (endTimer[i]); Serial.print ("   ");
      Serial.print(F("End Time "));   Serial.print (endTimer[i] + startTimer); Serial.print ("   ");
      Serial.print(F("previousMillis1   ")); Serial.print (previousMillis1); Serial.print ("   ");
      Serial.println();
       if ((millis() - previousMillis1) >= (850 + (i * 100))) { // 1050
        randomWingPos   = random(10 + (i*20), (60 + (i*20)));
        servo_wings.write(randomWingPos);       
        previousMillis1 = millis();    
      }
    } 
  }
   disengage();
  busyRed = 0;
  goState = 0;
  mp3.stop();
  ReadNet();
   delay(1000);
}
///////////////////////////////////////////////////////////////////   
//======================= CHATTY TIME ===========================//
///////////////////////////////////////////////////////////////////
void   Chatty_time(){
  busyRed = 1;
  WriteNet();
  int i = 0;
  int talk;
   int saying;
  int timeadder = 750;
  int talkTime = NormalTimings[i];
   int randomPivotPos;
  activate_servos();
  servo_wings.write(WINGopen);
   digitalWrite(LED_CENTRE, HIGH);
  do {
    ReadNet();
    WriteNet();
     //output_sensor(); //  used for debugging...
    if (i >= 43) { // end of   sequence
      busyRed = 0;
      WriteNet();
      disengage();
      return;
     }
    unsigned long currentMillis = millis(); // grab current time
    if   ((unsigned long)(currentMillis - previousMillis3) >= talkTime) {
      if (chatSayings[i]   < 100) { // RED Turret talking
        talk = chatSayings[i];
        saying   = chatSayings[i];
        talkTime = (NormalTimings[saying] + timeadder); 
       }
      else if ((chatSayings[i] > 99) && (chatSayings[i] < 200)) { //   WHITE turret talking
        talk = 0;
        saying = chatSayings[i] - 100;
         talkTime = (NormalTimings[saying] + timeadder);
      }
  
      else   {  // BLUE turret talking
        talk = 0;
        saying = chatSayings[i]   - 200; // sound file # of BLUE
        talkTime = (DefectiveTimings[saying] +   timeadder); // Time for that saying
      }

      if (talk == 0) {
         digitalWrite(LED_CENTRE, LOW);
      }
      else {
        digitalWrite(LED_CENTRE,   HIGH);
        mp3.playMp3FolderTrack(talk);
      }
      randomPivotPos   = random(minPIVOT, maxPIVOT);
      servo_pivot.write(randomPivotPos);
      Serial.println();
       Serial.print(F("i: ")); Serial.print (i); Serial.print ("\	");
      Serial.print(F("chatSayings[i]   ")); Serial.print (chatSayings[i]); Serial.print ("\	");
      Serial.print(F("Saying   ")); Serial.print (saying); Serial.print ("\	");
      Serial.print(F("talk   ")); Serial.print (talk); Serial.print ("\	");
      Serial.print(F("chat   time ")); Serial.print (talkTime); Serial.print ("\	");
      Serial.print(F("busyRed:   "));Serial.print (busyRed); Serial.print ("   ");
      previousMillis3 =   millis();
      i++;
    }
  }
  while (payload[4] == 1);
  busyRed   = 0;
  WriteNet();
  digitalWrite(LED_CENTRE, LOW); 
  disengage();
}
///////////////////////////////////////////////////////////////////   
//======================= MANUAL CONTROL =======================//
///////////////////////////////////////////////////////////////////
void   ManualControl(){
  int servoWings;
  int servoPitch;
  int servoPivot;
   activate_servos();
  servo_wings.write(WINGopen);
  digitalWrite(LED_CENTRE,   HIGH);
  ReadNet();  
  do {
    output_sensor();
    ReadNet();
     servoPivot = map(payload[0], 1023, 0, minPIVOT, maxPIVOT);  
    servoPitch   = map(payload[1], 1023, 0, minPITCH, maxPITCH);  
    servo_pivot.write(servoPivot);
     servo_pitch.write(servoPitch);
    unsigned long currentMillis = millis();   // grab current time
    if (payload[3] == 0) {
      if ((unsigned long)(currentMillis   - previousMillis1) >= 2500) {  
      randomPic = random(1, 20);
      mp3.playMp3FolderTrack(randomPic);
       previousMillis1 = millis();
      }
    }
    if (payload[2] == 0){
       fire();
    }  
  }
  while (payload[5] == 3);
  disengage();
   busyRed = 0;
  WriteNet();
  digitalWrite(LED_CENTRE, LOW); 
}
///////////////////////////////////////////////////////////////////
//=========================   RECEIVING ===========================//
///////////////////////////////////////////////////////////////////
void   ReadNet(){
  network.update();
  if ( network.available() )  {
    RF24NetworkHeader   header;
    network.peek(header);
    network.read(header, &payload, sizeof(payload));}   // Read the package        
}
///////////////////////////////////////////////////////////////////
//=========================   SENDING =============================//
///////////////////////////////////////////////////////////////////
void   WriteNet(){
  network.update();
  RF24NetworkHeader header4(MTC);
  bool   ok4 = network.write(header4, &busyRed, sizeof(busyRed));
/*  if (ok4) { // used   for debugging...
    Serial.print("MTC ok4  ");}
  else {
    Serial.print("-------   ");} 
    */
}

Portal turret w Radio (RED)

c_cpp

Code used for turret. This includes code that will enable control by the Master Turret Control, featured on another page. Different flavours require tweaking.

1//
2/* Portal Turret - Option With Radio!!
3 *  Chris Nowak - Feb  2019
4 *  https://www.instructables.com/member/ChrisN219/
5 *  https://create.arduino.cc/projecthub/Novachris/talking-portal-2-turret-gun-637bf3
6  *  
7 *  This code includes all the features needed to perform the Cara Mia Opera,  
8 *  Chat Time and Manual mode, as controlled by the Maseter Turret Control (MTC).
9  *  The MTC is a separate controller featured on another build.  The turret
10 *  will operate autonomously using this code without the MTC.
11 *  
12 *  The  code is built to work with three turrets, but each will operate independently.
13  *  Lots of debugging code left in.  Use or clean up as desired.  It's mostly debugged,
14  *  but isn't perfect.  Given the price you paid, I figure that's ok! ;)
15 * =================  RED ====================
16 */
17
18#include <Wire.h>
19#include <VL53L0X.h>
20#include  "Arduino.h"
21#include <SoftwareSerial.h>
22#include <Servo.h>
23#include <DFMiniMp3.h>
24#include  <RF24.h>
25#include <RF24Network.h>
26#include <SPI.h>
27class Mp3Notify
28{
29public:
30  static void OnError(uint8_t errorCode)
31  {
32    // see DfMp3_Error for code  meaning
33    Serial.println();
34    Serial.print("Com Error ");
35    Serial.println(errorCode);
36  }
37  static void OnPlayFinished(uint8_t globalTrack)
38  {
39    Serial.println();
40    Serial.print("Play finished for #");
41    Serial.println(globalTrack);   
42  }
43  static void OnCardOnline(uint8_t code)
44  {
45    Serial.println();
46    Serial.print("Card online ");
47    Serial.println(code);     
48  }
49  static void OnCardInserted(uint8_t code)
50  {
51    Serial.println();
52    Serial.print("Card  inserted ");
53    Serial.println(code); 
54  }
55  static void OnCardRemoved(uint8_t  code)
56  {
57    Serial.println();
58    Serial.print("Card removed ");
59    Serial.println(code);  
60  }
61}; 
62
63Servo servo_pivot;
64Servo servo_wings;
65Servo  servo_pitch;
66VL53L0X sensor;
67
68// Setup for soundcard
69SoftwareSerial  secondarySerial(4, 2); // RX, TX
70DFMiniMp3<SoftwareSerial, Mp3Notify> mp3(secondarySerial);
71
72//  Setup for radio
73RF24 radio(10, 9);               // nRF24L01 (CE,CSN)
74RF24Network  network(radio);      // Include the radio in the network
75const uint64_t this_node  = 01;   // This turret  - Red - in Octal format ( 04,031, etc)
76const uint64_t  WHT = 02;      // Turret 02 - White
77const uint64_t BLU = 03;      // Turret 03  - Blue
78const uint64_t MTC = 00;      // Master Turret Control
79unsigned long  previousMillis1 = 0;
80unsigned long previousMillis2 = 0;
81unsigned long previousMillis3  = 0;
82byte LED_LH_up = A1;
83byte LED_LH_down = A2;
84byte LED_CENTRE = A3;
85byte  LED_RH_up = 7;
86byte LED_RH_down = 8;
87byte PIVOT = 6; //white
88byte WINGS  = 3; //yellow
89byte PITCH = 5; //blue
90byte parkPIVOT = 96;  //Smaller number  rotates CW as viewed from the top
91byte posPIVOT = 96;
92byte maxPIVOT = 116;
93byte  minPIVOT = 76;
94byte WINGclose = 165;
95byte WINGopen = 10;
96byte WINGpos =  160;
97byte parkPITCH = 86;
98byte posPITCH = 86;
99byte maxPITCH = 96;
100byte  minPITCH = 75;
101byte pos = 90;
102byte pulse = 20;
103byte pitchCW = 1;
104byte  pivotCW = 1;
105byte randomWake;
106byte randomOpen;
107byte randomFalse;
108byte  randomStart;
109byte randomDisengage;
110int triggerDistance = 300; 
111byte buttonStatus;
112byte  busyRed = 1;
113byte restModeWhite;
114byte goState;
115int x;
116int y;
117byte  pb1State; // Fire
118byte pb2State; // say random comment
119byte pb3State;
120byte  randomPic;
121// Payload from Master Turret Control (MTC)
122// int payload [] =  {0, 1,    2    ,    3    ,     4   ,    5   };
123// int payload [] = {x, y, pb1State,  pb2State, pb3State, goState};
124int payload [6];
125
126/* This is the "conversation"  map for "Chat Time".  
127 * 0-99 = Red Turret sayings 
128 * 100-199 = White  Turret sayings 
129 * 200-299 = Blue Turret sayings
130 * Files on all SD cards  are saved as 0-100.
131 * Add 100 to the file number here for White, 200 for Blue.
132  * File 204 would be BLUE turret, file number 0004.
133 */ 
134int chatSayings []  = {
135  0,              // Start pause on i = 0, followed by "rounds"...
136  204, 164, 25,   // 1
137  205, 127, 76,   // 2
138  208, 162, 65,   // 3
139  143,  230, 23,   // 4
140  130, 41, 225,   // 5
141  153, 31, 133,   // 6
142  234, 49,  155,   // 7
143  229, 175, 74,   // 8
144  231, 58, 226,   // 9
145  161, 223, 59,   // 10
146  227, 68, 236,   // 11
147  136, 50, 224,   // 12
148  34, 160, 78,    // 13
149  222, 42         // End
150};
151
152/* This is the RED and WHITE  turret timing map.  They share sayings.
153 *  These timings correspond to the time  needed
154 *  to play the individual sayings, in milliseconds.
155 *  Change the  sayings above as desired, but do not change these timings.
156 *  For example, i  = 2 will take 0.8 seconds (NormalTimings[2])
157 *  to play the chatSayings[2] file.
158  */
159int NormalTimings [] = {
1601000,  // Start pause on i = 0, followed by "rounds"...
1612600,  800, 2800, 900, 1700, 1600, 1300, 2500, 1400, 1900,     // 1 - 10
1621600, 2300,  800, 3000, 300, 100, 200, 0, 0, 300,              // 11 - 20
163298000, 1300, 2600,  1300, 1400, 2100, 1900, 1600, 800, 1700,  // 21 - 30
1641100, 1000, 1000, 2100,  1500, 1300, 1100, 800, 1200, 1000,    // 31 - 40
1652200, 1700, 1300, 1400, 1500,  1000, 2000, 500, 2700, 9000,    // 41 - 50
1661100, 1200, 900, 2400, 1200, 1100,  2100, 2000, 2500, 1700,    // 51 - 60
1671100, 1000, 1100, 500, 1900, 0, 1300, 2100,  1700, 900,        // 61 - 70
1681100, 800, 1100, 1700, 1100, 1100, 1500, 1500, 500,  900,      // 71 - 80
1692100                                                          //  81
170};
171/* This is the BLUE turret timing map.
172 *  These timings correspond  to the time needed
173 *  to play the individual sayings, in seconds.
174 *  For  example, i = 2 will take 0.9 seconds (DefectiveTimings[2])
175 *  to play the chatSayings  [2] file.
176 */
177int DefectiveTimings [] = {
1781000,   // Start pause on i =  0, followed by "rounds"...
1791700, 900, 2000, 600, 1100, 1800, 1900, 3000, 1500,  800,    // 1 - 10
1802100, 800, 1900, 900, 3200, 2700, 0, 0, 0, 2000,            //  11 - 20
1814400, 800, 3200, 900, 1400, 2000, 2100, 1200, 1300, 1000,   // 21 - 30
1821100,  1400, 2100, 1000, 1600, 1000, 1200                    // 31 - 40
183};
184///////////////////////////////////////////////////////////////////  
185//======================= SETUP =================================//
186///////////////////////////////////////////////////////////////////
187void  setup(){
188   secondarySerial.begin(9600);//
189   Serial.begin(9600);//
190   mp3.begin();
191   mp3.setVolume(22);
192   Wire.begin();
193   SPI.begin();  // Radio setup
194   radio.begin();
195   radio.setPALevel(RF24_PA_LOW); // set radio to low power.  All near each other
196   radio.setDataRate(RF24_2MBPS); // I find this works  best with multiple radios
197   network.begin(70, this_node);  //(channel, node  address)
198   sensor_read();
199   pinMode(LED_LH_up, OUTPUT);
200   pinMode(LED_LH_down,  OUTPUT);
201   pinMode(LED_CENTRE, OUTPUT);
202   pinMode(LED_RH_up, OUTPUT);
203   pinMode(LED_RH_down, OUTPUT);
204   digitalWrite(LED_CENTRE, HIGH);
205   activate_servos();
206   servo_wings.write(WINGopen); // open wings
207   servo_pivot.write(parkPIVOT);  // park pivot
208   servo_pitch.write(parkPITCH); // park pitch
209   randomWake  = random(1, 3);
210   mp3.playMp3FolderTrack(1); // play waking up comment
211   delay(2000);
212   servo_wings.write(WINGclose); // close wings
213   delay(1500);
214   digitalWrite(LED_CENTRE,  LOW);
215   turn_off_servos();
216   busyRed = 0;
217}
218///////////////////////////////////////////////////////////////////
219//=======================  MAIN LOOP =============================//
220///////////////////////////////////////////////////////////////////
221void  loop(){
222  while (sensor.readRangeSingleMillimeters()>triggerDistance) { //nothing  in front of sensor, do nothing
223    ReadNet();
224    WriteNet();
225    output_sensor();
226    if (payload[5] == 1) { // Conditions used with MTC. Turret will work automatically  without MTC
227      delay(500);
228      WriteNet();
229      Cara_Mia(); // Opera  time!!  
230    }
231    else if (payload[5] == 2) { 
232      delay(500);
233      WriteNet();
234      Chatty_time(); // Chatty time!!}
235      ReadNet();
236    }
237    else  if (payload[5] == 3) {
238      delay(500);
239      WriteNet();
240      ManualControl  (); // Manual Control
241    }     
242  }
243  
244  if (sensor.readRangeSingleMillimeters()<triggerDistance){  //something in front of sensor
245    delay (200); //wait before checking again  to see if someone still there...
246    if (sensor.readRangeSingleMillimeters()<triggerDistance){  //someone there (not false trigger)
247      busyRed = 1;
248      ReadNet();
249      WriteNet();
250      output_sensor();
251      activate_servos(); // wake  up servos
252      activate(); // open wings and say "I see you" comment
253      if  (sensor.readRangeSingleMillimeters()>triggerDistance){ // opened up and person gone
254        falseActivate();  //say "where'd you go?" comment and close up
255        delay  (2000);
256        scanArea(); //perform scan of area
257      }
258      else {  // someone definitely there - open fire!! 
259        engage();
260        delay  (2400); 
261        for (int j=0; j <= 2; j++){
262          if (sensor.readRangeSingleMillimeters()<triggerDistance){  // as long as someone there...
263            for (int i=0; i <= 25; i++){ // fire  for a short period
264              fire();} // shoot them...
265            output_sensor();
266          }
267        }
268      }      
269    output_sensor(); 
270    disengage();  // no more target, stop firing and prepare to close
271  }
272  else {
273    output_sensor();
274    delay(350);
275    }
276  }
277}
278
279///////////////////////////////////////////////////////////////////
280//=======================  SUBROUTINES ===========================//
281///////////////////////////////////////////////////////////////////
282
283//=====  read the VLX53 sensor  =====//
284void sensor_read(){  
285  sensor.init();
286  sensor.setTimeout(100);
287  // lower the return signal rate limit (default is  0.25 MCPS)
288  sensor.setSignalRateLimit(0.25); // started with 0.1
289  // increase  laser pulse periods (defaults are 14 and 10 PCLKs)
290  sensor.setVcselPulsePeriod(VL53L0X::VcselPeriodPreRange,  14); //started with 18
291  sensor.setVcselPulsePeriod(VL53L0X::VcselPeriodFinalRange,  10); //started with 14
292}
293//=====  monitor output for debugging  =====//
294void  output_sensor(){ // Option out or delete if not interested.
295  Serial.println();
296  Serial.print ("-RED-  ");
297  Serial.print("Distance "); Serial.print(sensor.readRangeSingleMillimeters());  Serial.print ("\	");
298  if (sensor.timeoutOccurred()) { Serial.print(" TIMEOUT");  }
299  Serial.print(F("Pivot< ")); Serial.print (posPIVOT); Serial.print ("   ");
300  Serial.print(F("Pitch< ")); Serial.print (posPITCH); Serial.print ("   ");
301  Serial.print(F("Wings< ")); Serial.print (WINGpos); Serial.print ("   ");
302  Serial.print(F("busyRed: "));Serial.print (busyRed); Serial.print ("   ");
303  Serial.print(F("x :"));Serial.print (payload[0]); Serial.print ("\	");
304  Serial.print(F("y :"));Serial.print (payload[1]); Serial.print ("\	");
305  Serial.print(F("pb1 :"));Serial.print (payload[2]); Serial.print ("   ");
306  Serial.print(F("pb2 :"));Serial.print (payload[3]); Serial.print ("   ");
307  Serial.print(F("pb3 :"));Serial.print (payload[4]); Serial.print ("   ");
308  Serial.print(F("goState: ")); Serial.print(payload[5]);Serial.print ("   ");
309}
310//=====  update servo positions =====//
311void increment_servos(){ 
312  if (pitchCW ==  0) posPITCH = posPITCH - 3; // the higher the number, the jerkier the motion
313  if (pitchCW == 1) posPITCH = posPITCH + 3;
314  if (pivotCW == 0) posPIVOT = posPIVOT  - 3;
315  if (pivotCW == 1) posPIVOT = posPIVOT + 3;
316  if (posPIVOT >= maxPIVOT)  pivotCW = 0;
317  if (posPIVOT <= minPIVOT) pivotCW = 1;
318  if (posPITCH >= maxPITCH)  pitchCW = 0;
319  if (posPITCH <= minPITCH) pitchCW = 1;
320}
321///////////////////////////////////////////////////////////////////
322//=======================  ACTIVATE ==============================//
323///////////////////////////////////////////////////////////////////
324void  activate(){ // open up wings and say something
325  busyRed = 1;
326  ReadNet();
327  WriteNet();
328  output_sensor();
329  digitalWrite(LED_CENTRE, HIGH); //LED eye  on
330  randomOpen = random(3, 6);// pick random opening comment
331  mp3.playMp3FolderTrack(randomOpen);  // play random "I see you" comment 
332  servo_wings.write(WINGopen); // open  wings
333  output_sensor();
334  delay (3400);
335}
336///////////////////////////////////////////////////////////////////
337//====================FALSE  ACTIVATE ============================//
338///////////////////////////////////////////////////////////////////
339void  falseActivate(){ // 
340  busyRed = 1;
341  ReadNet();
342  WriteNet();
343  output_sensor();
344  randomFalse = random(6, 9);// pick random opening comment
345  mp3.playMp3FolderTrack(randomFalse);  // play random "where'd you go?" comment
346  delay (1800);
347}
348///////////////////////////////////////////////////////////////////
349//=======================  SCAN AREA =============================//
350///////////////////////////////////////////////////////////////////
351void  scanArea(){ // continue scanning for a bit after falseActivate
352  busyRed = 1;
353  ReadNet();
354  WriteNet();
355  output_sensor();
356  mp3.playMp3FolderTrack(2);  // "searching..."
357  servo_pitch.write(parkPITCH);
358  delay(1600);
359  servo_pitch.detach();
360  servo_wings.detach();
361  mp3.playMp3FolderTrack(21);
362  for (int i=0; i <=  220; i++){ //scan for a little bit...
363    output_sensor();
364    if (pivotCW  == 0) posPIVOT = posPIVOT - 1; // increment one step CW if CW = 0
365    if (pivotCW  == 1) posPIVOT = posPIVOT + 1; // otherwise go one step other direction
366    if  (posPIVOT >= maxPIVOT) pivotCW = 0; // if max rotation clockwise, switch to counterclockwise
367    if (posPIVOT <= minPIVOT) pivotCW = 1; // if min rotation counterclockwise,switch  to clockwise
368    servo_pivot.write(posPIVOT);
369    if (sensor.readRangeSingleMillimeters()<triggerDistance/2){  //Somebody stepped in front
370      i = 350;
371      engage();  
372      delay  (2500);
373      activate_servos();
374      for (int i=0; i <= 25; i++){ // fire  for a short period
375        fire(); // shoot them...
376      } 
377    }
378  }
379  activate_servos(); // fully scanned with no one passing...
380  servo_pivot.write(parkPIVOT);  //close up.
381  output_sensor();
382  delay(1200);
383}
384///////////////////////////////////////////////////////////////////
385//=======================  ENGAGE ================================//
386///////////////////////////////////////////////////////////////////
387void  engage(){ //smartass comment before firing
388  busyRed = 1;
389  ReadNet();
390  WriteNet();
391  output_sensor();
392  randomStart = random(9, 12);// pick random  smartass comment before firing
393  mp3.playMp3FolderTrack(randomStart);
394  output_sensor();
395}
396///////////////////////////////////////////////////////////////////
397//=======================  FIRE ==================================//
398///////////////////////////////////////////////////////////////////
399void  fire(){ // fire sound and turret movement
400  
401  ReadNet();
402  WriteNet();
403  output_sensor();
404  mp3.playMp3FolderTrack(15);
405  servo_pivot.write(posPIVOT);
406  servo_pitch.write(posPITCH);
407  digitalWrite(LED_CENTRE, HIGH);
408  digitalWrite(LED_LH_up,  LOW);    
409  digitalWrite(LED_LH_down, HIGH);        
410  digitalWrite(LED_RH_up,  LOW);                      
411  digitalWrite(LED_RH_down, HIGH);     
412  delay(pulse*2);  
413  servo_pivot.write(posPIVOT);
414  servo_pitch.write(posPITCH);
415  digitalWrite(LED_LH_up,  HIGH);    
416  digitalWrite(LED_LH_down, LOW);        
417  digitalWrite(LED_RH_up,  HIGH);                      
418  digitalWrite(LED_RH_down, LOW);  
419  delay(pulse);  
420  digitalWrite(LED_LH_up, LOW); 
421  digitalWrite(LED_RH_up, LOW);            
422  increment_servos(); // update servo position
423}
424///////////////////////////////////////////////////////////////////
425//=======================  DISENGAGE =============================//
426///////////////////////////////////////////////////////////////////
427void  disengage(){ //re-align wings (pitch) and pivot home before closing wings
428  busyRed  = 1;
429  ReadNet();
430  WriteNet();
431  output_sensor();
432  delay(2000);
433  randomDisengage = random(12, 15);
434  mp3.playMp3FolderTrack(randomDisengage);  // "Goodbye" comment
435  servo_pivot.write(parkPIVOT);
436  servo_pitch.write(parkPITCH);
437  digitalWrite(LED_LH_up, LOW);    
438  digitalWrite(LED_LH_down, LOW);        
439  digitalWrite(LED_RH_up, LOW);                      
440  digitalWrite(LED_RH_down,  LOW); // turn off firing LEDs
441  delay (2000);
442  servo_wings.write(WINGclose);
443  delay (1500);
444  digitalWrite(LED_CENTRE, LOW); // turn off central LED
445  delay (100);
446  output_sensor();
447  turn_off_servos();
448  busyRed = 0;
449}
450void  turn_off_servos(){ // detach servos so they're not engaged
451  servo_pivot.detach();
452  servo_pitch.detach();
453  servo_wings.detach();  
454}
455void activate_servos(){  // activate servos for movement
456  servo_pivot.attach(PIVOT);
457  servo_pitch.attach(PITCH);
458  servo_wings.attach(WINGS);  
459}
460
461///////////////////////////////////////////////////////////////////  
462//======================= CARA MIA OPERA ========================//
463///////////////////////////////////////////////////////////////////
464void  Cara_Mia(){
465  busyRed = 1;
466  WriteNet();
467  digitalWrite(LED_CENTRE, HIGH);
468  int randomWingPos;
469  activate_servos();
470  unsigned long endTimer[] = {8200,  40000, 100000}; // 
471  unsigned long startTimer;
472  for (int i=0; i <= 2; i++)  {
473    startTimer = millis();
474    mp3.playMp3FolderTrack(100 + i);
475    while  (millis() < (startTimer + endTimer[i])){
476      ReadNet();
477      WriteNet();
478      if (payload[4] == 0) {
479        disengage();
480        busyRed = 0;
481        WriteNet();
482        return;}
483        //  debugging print below.  Delete  or comment out as desired.
484      Serial.print(F("millis() ")); Serial.print  (millis()); Serial.print ("   ");
485      Serial.print(F("startTimer ")); Serial.print  (startTimer); Serial.print ("   ");
486      Serial.print(F("endTimer ")); Serial.print  (endTimer[i]); Serial.print ("   ");
487      Serial.print(F("End Time "));  Serial.print (endTimer[i] + startTimer); Serial.print ("   ");
488      Serial.print(F("previousMillis1  ")); Serial.print (previousMillis1); Serial.print ("   ");
489      Serial.println();
490      if ((millis() - previousMillis1) >= (850 + (i * 100))) { // 1050
491        randomWingPos  = random(10 + (i*20), (60 + (i*20)));
492        servo_wings.write(randomWingPos);      
493        previousMillis1 = millis();    
494      }
495    } 
496  }
497  disengage();
498  busyRed = 0;
499  goState = 0;
500  mp3.stop();
501  ReadNet();
502  delay(1000);
503}
504///////////////////////////////////////////////////////////////////  
505//======================= CHATTY TIME ===========================//
506///////////////////////////////////////////////////////////////////
507void  Chatty_time(){
508  busyRed = 1;
509  WriteNet();
510  int i = 0;
511  int talk;
512  int saying;
513  int timeadder = 750;
514  int talkTime = NormalTimings[i];
515  int randomPivotPos;
516  activate_servos();
517  servo_wings.write(WINGopen);
518  digitalWrite(LED_CENTRE, HIGH);
519  do {
520    ReadNet();
521    WriteNet();
522    //output_sensor(); //  used for debugging...
523    if (i >= 43) { // end of  sequence
524      busyRed = 0;
525      WriteNet();
526      disengage();
527      return;
528    }
529    unsigned long currentMillis = millis(); // grab current time
530    if  ((unsigned long)(currentMillis - previousMillis3) >= talkTime) {
531      if (chatSayings[i]  < 100) { // RED Turret talking
532        talk = chatSayings[i];
533        saying  = chatSayings[i];
534        talkTime = (NormalTimings[saying] + timeadder); 
535      }
536      else if ((chatSayings[i] > 99) && (chatSayings[i] < 200)) { //  WHITE turret talking
537        talk = 0;
538        saying = chatSayings[i] - 100;
539        talkTime = (NormalTimings[saying] + timeadder);
540      }
541  
542      else  {  // BLUE turret talking
543        talk = 0;
544        saying = chatSayings[i]  - 200; // sound file # of BLUE
545        talkTime = (DefectiveTimings[saying] +  timeadder); // Time for that saying
546      }
547
548      if (talk == 0) {
549        digitalWrite(LED_CENTRE, LOW);
550      }
551      else {
552        digitalWrite(LED_CENTRE,  HIGH);
553        mp3.playMp3FolderTrack(talk);
554      }
555      randomPivotPos  = random(minPIVOT, maxPIVOT);
556      servo_pivot.write(randomPivotPos);
557      Serial.println();
558      Serial.print(F("i: ")); Serial.print (i); Serial.print ("\	");
559      Serial.print(F("chatSayings[i]  ")); Serial.print (chatSayings[i]); Serial.print ("\	");
560      Serial.print(F("Saying  ")); Serial.print (saying); Serial.print ("\	");
561      Serial.print(F("talk  ")); Serial.print (talk); Serial.print ("\	");
562      Serial.print(F("chat  time ")); Serial.print (talkTime); Serial.print ("\	");
563      Serial.print(F("busyRed:  "));Serial.print (busyRed); Serial.print ("   ");
564      previousMillis3 =  millis();
565      i++;
566    }
567  }
568  while (payload[4] == 1);
569  busyRed  = 0;
570  WriteNet();
571  digitalWrite(LED_CENTRE, LOW); 
572  disengage();
573}
574///////////////////////////////////////////////////////////////////  
575//======================= MANUAL CONTROL =======================//
576///////////////////////////////////////////////////////////////////
577void  ManualControl(){
578  int servoWings;
579  int servoPitch;
580  int servoPivot;
581  activate_servos();
582  servo_wings.write(WINGopen);
583  digitalWrite(LED_CENTRE,  HIGH);
584  ReadNet();  
585  do {
586    output_sensor();
587    ReadNet();
588    servoPivot = map(payload[0], 1023, 0, minPIVOT, maxPIVOT);  
589    servoPitch  = map(payload[1], 1023, 0, minPITCH, maxPITCH);  
590    servo_pivot.write(servoPivot);
591    servo_pitch.write(servoPitch);
592    unsigned long currentMillis = millis();  // grab current time
593    if (payload[3] == 0) {
594      if ((unsigned long)(currentMillis  - previousMillis1) >= 2500) {  
595      randomPic = random(1, 20);
596      mp3.playMp3FolderTrack(randomPic);
597      previousMillis1 = millis();
598      }
599    }
600    if (payload[2] == 0){
601      fire();
602    }  
603  }
604  while (payload[5] == 3);
605  disengage();
606  busyRed = 0;
607  WriteNet();
608  digitalWrite(LED_CENTRE, LOW); 
609}
610///////////////////////////////////////////////////////////////////
611//=========================  RECEIVING ===========================//
612///////////////////////////////////////////////////////////////////
613void  ReadNet(){
614  network.update();
615  if ( network.available() )  {
616    RF24NetworkHeader  header;
617    network.peek(header);
618    network.read(header, &payload, sizeof(payload));}  // Read the package        
619}
620///////////////////////////////////////////////////////////////////
621//=========================  SENDING =============================//
622///////////////////////////////////////////////////////////////////
623void  WriteNet(){
624  network.update();
625  RF24NetworkHeader header4(MTC);
626  bool  ok4 = network.write(header4, &busyRed, sizeof(busyRed));
627/*  if (ok4) { // used  for debugging...
628    Serial.print("MTC ok4  ");}
629  else {
630    Serial.print("-------  ");} 
631    */
632}
633
634

//
/* Portal Turret - Option With Radio!!
 *  Chris Nowak - Feb  2019
 *  https://www.instructables.com/member/ChrisN219/
 *  https://create.arduino.cc/projecthub/Novachris/talking-portal-2-turret-gun-637bf3
  *  
 *  This code includes all the features needed to perform the Cara Mia Opera,  
 *  Chat Time and Manual mode, as controlled by the Maseter Turret Control (MTC).
  *  The MTC is a separate controller featured on another build.  The turret
 *  will operate autonomously using this code without the MTC.
 *  
 *  The  code is built to work with three turrets, but each will operate independently.
  *  Lots of debugging code left in.  Use or clean up as desired.  It's mostly debugged,
  *  but isn't perfect.  Given the price you paid, I figure that's ok! ;)
 * =================  RED ====================
 */

#include <Wire.h>
#include <VL53L0X.h>
#include  "Arduino.h"
#include <SoftwareSerial.h>
#include <Servo.h>
#include <DFMiniMp3.h>
#include  <RF24.h>
#include <RF24Network.h>
#include <SPI.h>
class Mp3Notify
{
public:
  static void OnError(uint8_t errorCode)
  {
    // see DfMp3_Error for code  meaning
    Serial.println();
    Serial.print("Com Error ");
    Serial.println(errorCode);
  }
  static void OnPlayFinished(uint8_t globalTrack)
  {
    Serial.println();
    Serial.print("Play finished for #");
    Serial.println(globalTrack);   
  }
  static void OnCardOnline(uint8_t code)
  {
    Serial.println();
    Serial.print("Card online ");
    Serial.println(code);     
  }
  static void OnCardInserted(uint8_t code)
  {
    Serial.println();
    Serial.print("Card  inserted ");
    Serial.println(code); 
  }
  static void OnCardRemoved(uint8_t  code)
  {
    Serial.println();
    Serial.print("Card removed ");
    Serial.println(code);  
  }
}; 

Servo servo_pivot;
Servo servo_wings;
Servo  servo_pitch;
VL53L0X sensor;

// Setup for soundcard
SoftwareSerial  secondarySerial(4, 2); // RX, TX
DFMiniMp3<SoftwareSerial, Mp3Notify> mp3(secondarySerial);

//  Setup for radio
RF24 radio(10, 9);               // nRF24L01 (CE,CSN)
RF24Network  network(radio);      // Include the radio in the network
const uint64_t this_node  = 01;   // This turret  - Red - in Octal format ( 04,031, etc)
const uint64_t  WHT = 02;      // Turret 02 - White
const uint64_t BLU = 03;      // Turret 03  - Blue
const uint64_t MTC = 00;      // Master Turret Control
unsigned long  previousMillis1 = 0;
unsigned long previousMillis2 = 0;
unsigned long previousMillis3  = 0;
byte LED_LH_up = A1;
byte LED_LH_down = A2;
byte LED_CENTRE = A3;
byte  LED_RH_up = 7;
byte LED_RH_down = 8;
byte PIVOT = 6; //white
byte WINGS  = 3; //yellow
byte PITCH = 5; //blue
byte parkPIVOT = 96;  //Smaller number  rotates CW as viewed from the top
byte posPIVOT = 96;
byte maxPIVOT = 116;
byte  minPIVOT = 76;
byte WINGclose = 165;
byte WINGopen = 10;
byte WINGpos =  160;
byte parkPITCH = 86;
byte posPITCH = 86;
byte maxPITCH = 96;
byte  minPITCH = 75;
byte pos = 90;
byte pulse = 20;
byte pitchCW = 1;
byte  pivotCW = 1;
byte randomWake;
byte randomOpen;
byte randomFalse;
byte  randomStart;
byte randomDisengage;
int triggerDistance = 300; 
byte buttonStatus;
byte  busyRed = 1;
byte restModeWhite;
byte goState;
int x;
int y;
byte  pb1State; // Fire
byte pb2State; // say random comment
byte pb3State;
byte  randomPic;
// Payload from Master Turret Control (MTC)
// int payload [] =  {0, 1,    2    ,    3    ,     4   ,    5   };
// int payload [] = {x, y, pb1State,  pb2State, pb3State, goState};
int payload [6];

/* This is the "conversation"  map for "Chat Time".  
 * 0-99 = Red Turret sayings 
 * 100-199 = White  Turret sayings 
 * 200-299 = Blue Turret sayings
 * Files on all SD cards  are saved as 0-100.
 * Add 100 to the file number here for White, 200 for Blue.
  * File 204 would be BLUE turret, file number 0004.
 */ 
int chatSayings []  = {
  0,              // Start pause on i = 0, followed by "rounds"...
  204, 164, 25,   // 1
  205, 127, 76,   // 2
  208, 162, 65,   // 3
  143,  230, 23,   // 4
  130, 41, 225,   // 5
  153, 31, 133,   // 6
  234, 49,  155,   // 7
  229, 175, 74,   // 8
  231, 58, 226,   // 9
  161, 223, 59,   // 10
  227, 68, 236,   // 11
  136, 50, 224,   // 12
  34, 160, 78,    // 13
  222, 42         // End
};

/* This is the RED and WHITE  turret timing map.  They share sayings.
 *  These timings correspond to the time  needed
 *  to play the individual sayings, in milliseconds.
 *  Change the  sayings above as desired, but do not change these timings.
 *  For example, i  = 2 will take 0.8 seconds (NormalTimings[2])
 *  to play the chatSayings[2] file.
  */
int NormalTimings [] = {
1000,  // Start pause on i = 0, followed by "rounds"...
2600,  800, 2800, 900, 1700, 1600, 1300, 2500, 1400, 1900,     // 1 - 10
1600, 2300,  800, 3000, 300, 100, 200, 0, 0, 300,              // 11 - 20
298000, 1300, 2600,  1300, 1400, 2100, 1900, 1600, 800, 1700,  // 21 - 30
1100, 1000, 1000, 2100,  1500, 1300, 1100, 800, 1200, 1000,    // 31 - 40
2200, 1700, 1300, 1400, 1500,  1000, 2000, 500, 2700, 9000,    // 41 - 50
1100, 1200, 900, 2400, 1200, 1100,  2100, 2000, 2500, 1700,    // 51 - 60
1100, 1000, 1100, 500, 1900, 0, 1300, 2100,  1700, 900,        // 61 - 70
1100, 800, 1100, 1700, 1100, 1100, 1500, 1500, 500,  900,      // 71 - 80
2100                                                          //  81
};
/* This is the BLUE turret timing map.
 *  These timings correspond  to the time needed
 *  to play the individual sayings, in seconds.
 *  For  example, i = 2 will take 0.9 seconds (DefectiveTimings[2])
 *  to play the chatSayings  [2] file.
 */
int DefectiveTimings [] = {
1000,   // Start pause on i =  0, followed by "rounds"...
1700, 900, 2000, 600, 1100, 1800, 1900, 3000, 1500,  800,    // 1 - 10
2100, 800, 1900, 900, 3200, 2700, 0, 0, 0, 2000,            //  11 - 20
4400, 800, 3200, 900, 1400, 2000, 2100, 1200, 1300, 1000,   // 21 - 30
1100,  1400, 2100, 1000, 1600, 1000, 1200                    // 31 - 40
};
///////////////////////////////////////////////////////////////////  
//======================= SETUP =================================//
///////////////////////////////////////////////////////////////////
void  setup(){
   secondarySerial.begin(9600);//
   Serial.begin(9600);//
   mp3.begin();
   mp3.setVolume(22);
   Wire.begin();
   SPI.begin();  // Radio setup
   radio.begin();
   radio.setPALevel(RF24_PA_LOW); // set radio to low power.  All near each other
   radio.setDataRate(RF24_2MBPS); // I find this works  best with multiple radios
   network.begin(70, this_node);  //(channel, node  address)
   sensor_read();
   pinMode(LED_LH_up, OUTPUT);
   pinMode(LED_LH_down,  OUTPUT);
   pinMode(LED_CENTRE, OUTPUT);
   pinMode(LED_RH_up, OUTPUT);
   pinMode(LED_RH_down, OUTPUT);
   digitalWrite(LED_CENTRE, HIGH);
   activate_servos();
   servo_wings.write(WINGopen); // open wings
   servo_pivot.write(parkPIVOT);  // park pivot
   servo_pitch.write(parkPITCH); // park pitch
   randomWake  = random(1, 3);
   mp3.playMp3FolderTrack(1); // play waking up comment
   delay(2000);
   servo_wings.write(WINGclose); // close wings
   delay(1500);
   digitalWrite(LED_CENTRE,  LOW);
   turn_off_servos();
   busyRed = 0;
}
///////////////////////////////////////////////////////////////////
//=======================  MAIN LOOP =============================//
///////////////////////////////////////////////////////////////////
void  loop(){
  while (sensor.readRangeSingleMillimeters()>triggerDistance) { //nothing  in front of sensor, do nothing
    ReadNet();
    WriteNet();
    output_sensor();
    if (payload[5] == 1) { // Conditions used with MTC. Turret will work automatically  without MTC
      delay(500);
      WriteNet();
      Cara_Mia(); // Opera  time!!  
    }
    else if (payload[5] == 2) { 
      delay(500);
      WriteNet();
      Chatty_time(); // Chatty time!!}
      ReadNet();
    }
    else  if (payload[5] == 3) {
      delay(500);
      WriteNet();
      ManualControl  (); // Manual Control
    }     
  }
  
  if (sensor.readRangeSingleMillimeters()<triggerDistance){  //something in front of sensor
    delay (200); //wait before checking again  to see if someone still there...
    if (sensor.readRangeSingleMillimeters()<triggerDistance){  //someone there (not false trigger)
      busyRed = 1;
      ReadNet();
      WriteNet();
      output_sensor();
      activate_servos(); // wake  up servos
      activate(); // open wings and say "I see you" comment
      if  (sensor.readRangeSingleMillimeters()>triggerDistance){ // opened up and person gone
        falseActivate();  //say "where'd you go?" comment and close up
        delay  (2000);
        scanArea(); //perform scan of area
      }
      else {  // someone definitely there - open fire!! 
        engage();
        delay  (2400); 
        for (int j=0; j <= 2; j++){
          if (sensor.readRangeSingleMillimeters()<triggerDistance){  // as long as someone there...
            for (int i=0; i <= 25; i++){ // fire  for a short period
              fire();} // shoot them...
            output_sensor();
          }
        }
      }      
    output_sensor(); 
    disengage();  // no more target, stop firing and prepare to close
  }
  else {
    output_sensor();
    delay(350);
    }
  }
}

///////////////////////////////////////////////////////////////////
//=======================  SUBROUTINES ===========================//
///////////////////////////////////////////////////////////////////

//=====  read the VLX53 sensor  =====//
void sensor_read(){  
  sensor.init();
  sensor.setTimeout(100);
  // lower the return signal rate limit (default is  0.25 MCPS)
  sensor.setSignalRateLimit(0.25); // started with 0.1
  // increase  laser pulse periods (defaults are 14 and 10 PCLKs)
  sensor.setVcselPulsePeriod(VL53L0X::VcselPeriodPreRange,  14); //started with 18
  sensor.setVcselPulsePeriod(VL53L0X::VcselPeriodFinalRange,  10); //started with 14
}
//=====  monitor output for debugging  =====//
void  output_sensor(){ // Option out or delete if not interested.
  Serial.println();
  Serial.print ("-RED-  ");
  Serial.print("Distance "); Serial.print(sensor.readRangeSingleMillimeters());  Serial.print ("\	");
  if (sensor.timeoutOccurred()) { Serial.print(" TIMEOUT");  }
  Serial.print(F("Pivot< ")); Serial.print (posPIVOT); Serial.print ("   ");
  Serial.print(F("Pitch< ")); Serial.print (posPITCH); Serial.print ("   ");
  Serial.print(F("Wings< ")); Serial.print (WINGpos); Serial.print ("   ");
  Serial.print(F("busyRed: "));Serial.print (busyRed); Serial.print ("   ");
  Serial.print(F("x :"));Serial.print (payload[0]); Serial.print ("\	");
  Serial.print(F("y :"));Serial.print (payload[1]); Serial.print ("\	");
  Serial.print(F("pb1 :"));Serial.print (payload[2]); Serial.print ("   ");
  Serial.print(F("pb2 :"));Serial.print (payload[3]); Serial.print ("   ");
  Serial.print(F("pb3 :"));Serial.print (payload[4]); Serial.print ("   ");
  Serial.print(F("goState: ")); Serial.print(payload[5]);Serial.print ("   ");
}
//=====  update servo positions =====//
void increment_servos(){ 
  if (pitchCW ==  0) posPITCH = posPITCH - 3; // the higher the number, the jerkier the motion
  if (pitchCW == 1) posPITCH = posPITCH + 3;
  if (pivotCW == 0) posPIVOT = posPIVOT  - 3;
  if (pivotCW == 1) posPIVOT = posPIVOT + 3;
  if (posPIVOT >= maxPIVOT)  pivotCW = 0;
  if (posPIVOT <= minPIVOT) pivotCW = 1;
  if (posPITCH >= maxPITCH)  pitchCW = 0;
  if (posPITCH <= minPITCH) pitchCW = 1;
}
///////////////////////////////////////////////////////////////////
//=======================  ACTIVATE ==============================//
///////////////////////////////////////////////////////////////////
void  activate(){ // open up wings and say something
  busyRed = 1;
  ReadNet();
  WriteNet();
  output_sensor();
  digitalWrite(LED_CENTRE, HIGH); //LED eye  on
  randomOpen = random(3, 6);// pick random opening comment
  mp3.playMp3FolderTrack(randomOpen);  // play random "I see you" comment 
  servo_wings.write(WINGopen); // open  wings
  output_sensor();
  delay (3400);
}
///////////////////////////////////////////////////////////////////
//====================FALSE  ACTIVATE ============================//
///////////////////////////////////////////////////////////////////
void  falseActivate(){ // 
  busyRed = 1;
  ReadNet();
  WriteNet();
  output_sensor();
  randomFalse = random(6, 9);// pick random opening comment
  mp3.playMp3FolderTrack(randomFalse);  // play random "where'd you go?" comment
  delay (1800);
}
///////////////////////////////////////////////////////////////////
//=======================  SCAN AREA =============================//
///////////////////////////////////////////////////////////////////
void  scanArea(){ // continue scanning for a bit after falseActivate
  busyRed = 1;
  ReadNet();
  WriteNet();
  output_sensor();
  mp3.playMp3FolderTrack(2);  // "searching..."
  servo_pitch.write(parkPITCH);
  delay(1600);
  servo_pitch.detach();
  servo_wings.detach();
  mp3.playMp3FolderTrack(21);
  for (int i=0; i <=  220; i++){ //scan for a little bit...
    output_sensor();
    if (pivotCW  == 0) posPIVOT = posPIVOT - 1; // increment one step CW if CW = 0
    if (pivotCW  == 1) posPIVOT = posPIVOT + 1; // otherwise go one step other direction
    if  (posPIVOT >= maxPIVOT) pivotCW = 0; // if max rotation clockwise, switch to counterclockwise
    if (posPIVOT <= minPIVOT) pivotCW = 1; // if min rotation counterclockwise,switch  to clockwise
    servo_pivot.write(posPIVOT);
    if (sensor.readRangeSingleMillimeters()<triggerDistance/2){  //Somebody stepped in front
      i = 350;
      engage();  
      delay  (2500);
      activate_servos();
      for (int i=0; i <= 25; i++){ // fire  for a short period
        fire(); // shoot them...
      } 
    }
  }
  activate_servos(); // fully scanned with no one passing...
  servo_pivot.write(parkPIVOT);  //close up.
  output_sensor();
  delay(1200);
}
///////////////////////////////////////////////////////////////////
//=======================  ENGAGE ================================//
///////////////////////////////////////////////////////////////////
void  engage(){ //smartass comment before firing
  busyRed = 1;
  ReadNet();
  WriteNet();
  output_sensor();
  randomStart = random(9, 12);// pick random  smartass comment before firing
  mp3.playMp3FolderTrack(randomStart);
  output_sensor();
}
///////////////////////////////////////////////////////////////////
//=======================  FIRE ==================================//
///////////////////////////////////////////////////////////////////
void  fire(){ // fire sound and turret movement
  
  ReadNet();
  WriteNet();
  output_sensor();
  mp3.playMp3FolderTrack(15);
  servo_pivot.write(posPIVOT);
  servo_pitch.write(posPITCH);
  digitalWrite(LED_CENTRE, HIGH);
  digitalWrite(LED_LH_up,  LOW);    
  digitalWrite(LED_LH_down, HIGH);        
  digitalWrite(LED_RH_up,  LOW);                      
  digitalWrite(LED_RH_down, HIGH);     
  delay(pulse*2);  
  servo_pivot.write(posPIVOT);
  servo_pitch.write(posPITCH);
  digitalWrite(LED_LH_up,  HIGH);    
  digitalWrite(LED_LH_down, LOW);        
  digitalWrite(LED_RH_up,  HIGH);                      
  digitalWrite(LED_RH_down, LOW);  
  delay(pulse);  
  digitalWrite(LED_LH_up, LOW); 
  digitalWrite(LED_RH_up, LOW);            
  increment_servos(); // update servo position
}
///////////////////////////////////////////////////////////////////
//=======================  DISENGAGE =============================//
///////////////////////////////////////////////////////////////////
void  disengage(){ //re-align wings (pitch) and pivot home before closing wings
  busyRed  = 1;
  ReadNet();
  WriteNet();
  output_sensor();
  delay(2000);
  randomDisengage = random(12, 15);
  mp3.playMp3FolderTrack(randomDisengage);  // "Goodbye" comment
  servo_pivot.write(parkPIVOT);
  servo_pitch.write(parkPITCH);
  digitalWrite(LED_LH_up, LOW);    
  digitalWrite(LED_LH_down, LOW);        
  digitalWrite(LED_RH_up, LOW);                      
  digitalWrite(LED_RH_down,  LOW); // turn off firing LEDs
  delay (2000);
  servo_wings.write(WINGclose);
  delay (1500);
  digitalWrite(LED_CENTRE, LOW); // turn off central LED
  delay (100);
  output_sensor();
  turn_off_servos();
  busyRed = 0;
}
void  turn_off_servos(){ // detach servos so they're not engaged
  servo_pivot.detach();
  servo_pitch.detach();
  servo_wings.detach();  
}
void activate_servos(){  // activate servos for movement
  servo_pivot.attach(PIVOT);
  servo_pitch.attach(PITCH);
  servo_wings.attach(WINGS);  
}

///////////////////////////////////////////////////////////////////  
//======================= CARA MIA OPERA ========================//
///////////////////////////////////////////////////////////////////
void  Cara_Mia(){
  busyRed = 1;
  WriteNet();
  digitalWrite(LED_CENTRE, HIGH);
  int randomWingPos;
  activate_servos();
  unsigned long endTimer[] = {8200,  40000, 100000}; // 
  unsigned long startTimer;
  for (int i=0; i <= 2; i++)  {
    startTimer = millis();
    mp3.playMp3FolderTrack(100 + i);
    while  (millis() < (startTimer + endTimer[i])){
      ReadNet();
      WriteNet();
      if (payload[4] == 0) {
        disengage();
        busyRed = 0;
        WriteNet();
        return;}
        //  debugging print below.  Delete  or comment out as desired.
      Serial.print(F("millis() ")); Serial.print  (millis()); Serial.print ("   ");
      Serial.print(F("startTimer ")); Serial.print  (startTimer); Serial.print ("   ");
      Serial.print(F("endTimer ")); Serial.print  (endTimer[i]); Serial.print ("   ");
      Serial.print(F("End Time "));  Serial.print (endTimer[i] + startTimer); Serial.print ("   ");
      Serial.print(F("previousMillis1  ")); Serial.print (previousMillis1); Serial.print ("   ");
      Serial.println();
      if ((millis() - previousMillis1) >= (850 + (i * 100))) { // 1050
        randomWingPos  = random(10 + (i*20), (60 + (i*20)));
        servo_wings.write(randomWingPos);      
        previousMillis1 = millis();    
      }
    } 
  }
  disengage();
  busyRed = 0;
  goState = 0;
  mp3.stop();
  ReadNet();
  delay(1000);
}
///////////////////////////////////////////////////////////////////  
//======================= CHATTY TIME ===========================//
///////////////////////////////////////////////////////////////////
void  Chatty_time(){
  busyRed = 1;
  WriteNet();
  int i = 0;
  int talk;
  int saying;
  int timeadder = 750;
  int talkTime = NormalTimings[i];
  int randomPivotPos;
  activate_servos();
  servo_wings.write(WINGopen);
  digitalWrite(LED_CENTRE, HIGH);
  do {
    ReadNet();
    WriteNet();
    //output_sensor(); //  used for debugging...
    if (i >= 43) { // end of  sequence
      busyRed = 0;
      WriteNet();
      disengage();
      return;
    }
    unsigned long currentMillis = millis(); // grab current time
    if  ((unsigned long)(currentMillis - previousMillis3) >= talkTime) {
      if (chatSayings[i]  < 100) { // RED Turret talking
        talk = chatSayings[i];
        saying  = chatSayings[i];
        talkTime = (NormalTimings[saying] + timeadder); 
      }
      else if ((chatSayings[i] > 99) && (chatSayings[i] < 200)) { //  WHITE turret talking
        talk = 0;
        saying = chatSayings[i] - 100;
        talkTime = (NormalTimings[saying] + timeadder);
      }
  
      else  {  // BLUE turret talking
        talk = 0;
        saying = chatSayings[i]  - 200; // sound file # of BLUE
        talkTime = (DefectiveTimings[saying] +  timeadder); // Time for that saying
      }

      if (talk == 0) {
        digitalWrite(LED_CENTRE, LOW);
      }
      else {
        digitalWrite(LED_CENTRE,  HIGH);
        mp3.playMp3FolderTrack(talk);
      }
      randomPivotPos  = random(minPIVOT, maxPIVOT);
      servo_pivot.write(randomPivotPos);
      Serial.println();
      Serial.print(F("i: ")); Serial.print (i); Serial.print ("\	");
      Serial.print(F("chatSayings[i]  ")); Serial.print (chatSayings[i]); Serial.print ("\	");
      Serial.print(F("Saying  ")); Serial.print (saying); Serial.print ("\	");
      Serial.print(F("talk  ")); Serial.print (talk); Serial.print ("\	");
      Serial.print(F("chat  time ")); Serial.print (talkTime); Serial.print ("\	");
      Serial.print(F("busyRed:  "));Serial.print (busyRed); Serial.print ("   ");
      previousMillis3 =  millis();
      i++;
    }
  }
  while (payload[4] == 1);
  busyRed  = 0;
  WriteNet();
  digitalWrite(LED_CENTRE, LOW); 
  disengage();
}
///////////////////////////////////////////////////////////////////  
//======================= MANUAL CONTROL =======================//
///////////////////////////////////////////////////////////////////
void  ManualControl(){
  int servoWings;
  int servoPitch;
  int servoPivot;
  activate_servos();
  servo_wings.write(WINGopen);
  digitalWrite(LED_CENTRE,  HIGH);
  ReadNet();  
  do {
    output_sensor();
    ReadNet();
    servoPivot = map(payload[0], 1023, 0, minPIVOT, maxPIVOT);  
    servoPitch  = map(payload[1], 1023, 0, minPITCH, maxPITCH);  
    servo_pivot.write(servoPivot);
    servo_pitch.write(servoPitch);
    unsigned long currentMillis = millis();  // grab current time
    if (payload[3] == 0) {
      if ((unsigned long)(currentMillis  - previousMillis1) >= 2500) {  
      randomPic = random(1, 20);
      mp3.playMp3FolderTrack(randomPic);
      previousMillis1 = millis();
      }
    }
    if (payload[2] == 0){
      fire();
    }  
  }
  while (payload[5] == 3);
  disengage();
  busyRed = 0;
  WriteNet();
  digitalWrite(LED_CENTRE, LOW); 
}
///////////////////////////////////////////////////////////////////
//=========================  RECEIVING ===========================//
///////////////////////////////////////////////////////////////////
void  ReadNet(){
  network.update();
  if ( network.available() )  {
    RF24NetworkHeader  header;
    network.peek(header);
    network.read(header, &payload, sizeof(payload));}  // Read the package        
}
///////////////////////////////////////////////////////////////////
//=========================  SENDING =============================//
///////////////////////////////////////////////////////////////////
void  WriteNet(){
  network.update();
  RF24NetworkHeader header4(MTC);
  bool  ok4 = network.write(header4, &busyRed, sizeof(busyRed));
/*  if (ok4) { // used  for debugging...
    Serial.print("MTC ok4  ");}
  else {
    Serial.print("-------  ");} 
    */
}

Downloadable files

Wiring Schematic - radio option

Schematic that I made for building the turret.

Wiring Schematic - radio option

Schematic that I made for building the turret.

Wiring Schematic - radio option

Documentation

Body-LHS+w+components+v4.stl

Leg+-+REAR+test.stl

Pitch+Frame+-+modified+1.stl

Body-RHS+v4.stl

Pitch+Frame+v4.stl

Wing+LH+bottom+v4.stl

Leg+-+REAR+v4.stl

Wing+RH+top+v4.stl

Wing+RH+bottom+v4.stl

Infill+strips+v3.stl

Wing+LH+top+v4.stl

Pitch+Frame+v4.stl

Wing+LH+bottom+v4.stl

Arduino+Base+w+Radio.stl

Pitch+Frame+-+modified+1.stl

Infill+strips+v3.stl

Body-RHS+v4.stl

Wing+RH+top+v4.stl

Leg+-+REAR+test.stl

Lens+v3b.stl

Wing+RH+bottom+v4.stl

Leg+-+REAR+v4.stl

Body-LHS+w+components+v4.stl

Arduino+Base+w+Radio.stl

Wing+LH+top+v4.stl

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Novachris

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