// MCU BASIC: https://www.basic4mcu.com
// DateTime : 2019-05-02 오후 9:00:05
// by Ok-Hyun Park
//
int ULT=7;   // 릴레이(초음파)
int SW=8;    // 작동스위치 푸시버튼사용
int UP=9;    // 실린더 UP 버튼
int DOWN=10; // 실린더 DOWN버튼
int LSU=11;  // 리미트UP
int LSD=12;  // 리미트DOWN
int EMG=13;  // 비상정지버튼
int IN1=3;   // 드라이버 정
int IN2=4;   // 드라이버 역
int EN=11;   // PWM으로 속도 조절시 필요
int mode=0;  // 초기 정지모드
//
void motor_stop(){ digitalWrite(IN1,0); digitalWrite(IN2,0); }
void motor_up()  { digitalWrite(IN1,1); digitalWrite(IN2,0); }
void motor_dn()  { digitalWrite(IN1,0); digitalWrite(IN2,1); }
//
void setup(){
  pinMode(IN1,OUTPUT); pinMode(IN2,OUTPUT); pinMode(EN,OUTPUT);
  pinMode(ULT,OUTPUT); //릴레이(진동자 On/Off)
  pinMode(SW,INPUT_PULLUP);
  pinMode(LSU,INPUT_PULLUP); pinMode(LSD,INPUT_PULLUP);
  pinMode(EMG,INPUT_PULLUP); pinMode(UP,INPUT_PULLUP); pinMode(DOWN,INPUT_PULLUP);
}
//
void loop(){
  if(!digitalRead(EMG)||!digitalRead(SW)){ // 비상정지
    motor_stop(); digitalWrite(ULT,LOW);   // 정지
  }
  else{
    if(digitalRead(SW)){     // 작동스위치
      if(digitalRead(LSD)){} // DOWN리미트 감지중이면 통과
      else{
        motor_dn(); digitalWrite(ULT,HIGH);
        while(!digitalRead(LSD)){ if(!digitalRead(EMG))return; } // DOWN리미트 감지까지 dn
        //
        delay(200); motor_stop(); delay(1500);
        //
        motor_up();
        while(!digitalRead(LSU)){ if(!digitalRead(EMG))return; } // UP리미트 감지까지 up
        motor_stop(); digitalWrite(ULT,LOW);
      }
    }
    //
    if     (digitalRead(UP  ))motor_up();
    else if(digitalRead(DOWN))motor_dn();
    else                      motor_stop();
  }
}