This sketch, relying on the Arduino GSM shield, waits for an SMS
message and displays it through the serial port and on Kim's
TEXT ME machine.

Some code from Javier Zorzano / TD
http://arduino.cc/en/Tutorial/GSMExamplesReceiveSMS

*/
/******************************************************************************************
* T H E C I R C U I T
*
* An external power supply is mandatory, otherwise the GSM unit doesn't work
*
* The GSM shield is plugged onto an Arduino Uno
* There are two servos both connected to GND and +5V
* The rotary servo control line goes to pin 5
* The vertical servo control line goes to pin 10
* The ready LED goes to pin 11 via a 200 ohm resistor
* The cathode of the ready LED goes to GND
*
******************************************************************************************/
#include // Include the GSM library
#include // Include the servo library

#define PINNUMBER "XXXX" // PIN number for the GSM SIM card - replace XXXX with actual value
#define rotaryPin 5 // Connect pin 5 to the rotary servo do not use 9 -unstable
#define verticalPin 10 // Connect pin 10 to the vertical servo
#define readyLed 11 // Connect pin 11 to LED which shows that GSM unit is connected

GSM gsmAccess; // Initialise the library instances
GSM_SMS sms;
char senderNumber[20]; // Array to hold the number that an SMS is retrieved from
Servo rotaryServo; // Create servo object to control rotary servo
Servo verticalServo; // Create servo object to control vertical servo

// This is where the "calibrated" values are entered so that the rotary servo moves to the right place to find the letter concerned

int rotation [] = {
161, 154, 148, 142, 136, 130, 124, 118, 112, 105, 99, 92, 85, 78, 72, 66, 60, 54, 48, 42, 36, 30, 24, 19, 12, 7};

int numberOfLetters = 26;
int currentServoPosition;
int newServoPosition;
int up = 170; // Two extremes of vertical servo
int down = 117;
int inactivityTimer = 0;

/**************************************************************************************
* Set up
**************************************************************************************/
void setup()
{
Serial.begin (9600); // Initialise serial communication at 9600
rotaryServo.attach (rotaryPin); // Attach the rotary servo
verticalServo.attach (verticalPin); // Attach the finger servo

boolean notConnected = true; // GSM connection state
parkArm(); // Move to a safe space if not there already
prompt();
parkArm(); // Move to a safe space

while (notConnected) // Wait until GSM connection is established
{
digitalWrite(readyLed, LOW); // Turn the ready LED off

if (gsmAccess.begin (PINNUMBER) == GSM_READY)
notConnected = false;
else
{
Serial.println ("Not connected");
delay (1000);
}
}

Serial.println ("GSM initialized"); // Confidence building message
Serial.println ("Waiting for messages");
digitalWrite(readyLed, HIGH); // Turn the ready LED on
}

/**************************************************************************************
* Main loop
**************************************************************************************/
void loop()
{
char c;

// If there are no SMSs available at regular intervals make a show

inactivityTimer = inactivityTimer++; // Count up for each loop
if (inactivityTimer > 300) // Approx. 1 sec per loop
{
inactivityTimer = 0; // Reset the tomer
prompt(); // Draw attention to yourself
}

// Heartbeat on LED to show that loop is still looping

digitalWrite(readyLed, LOW); // Turn the ready LED off
delay(100); // Time that LED is off
digitalWrite(readyLed, HIGH); // Turn the ready LED on

// If there is an SMS available

if (sms.available())
{
inactivityTimer = 0; // If message then reset inactivity timer
Serial.println("Message received from:");

// Read message bytes and print them
while(c=sms.read())
{
raiseLetterArm (c); // "Print" to perspex arms
}
sms.flush(); // Delete message from modem memory
}

delay(1000);

}

/**************************************************************************************
* Prompt any users
**************************************************************************************/
void prompt()
{
raiseLetterArm (84); // "Print" TEXT ME to perspex arms
raiseLetterArm (69);
raiseLetterArm (88);
raiseLetterArm (84);
raiseLetterArm (77);
raiseLetterArm (69);
}

/**************************************************************************************
* Put the arm out of harm's way
**************************************************************************************/
void parkArm()
{
rotaryServo.attach (rotaryPin); // Attach the rotary servo
newServoPosition = 180; // Park where the arm can do no harm when switched on/off
currentServoPosition = 9; // Make sure that it is clear that a move is needed
rotateServo(); // Move the rotary servo
delay(2000); // Wait for the servo to get there
rotaryServo.detach (); // Keep things quiet
}

/**************************************************************************************
* Raise the letter arm specified
**************************************************************************************/
void raiseLetterArm (int charEntered)
{
rotaryServo.attach (rotaryPin); // Attach the servo on pin

// 'A' is 65 'a' is 97 'Z' is 90
if ((charEntered < 65) || ((charEntered > 91) && (charEntered < 97)) || (charEntered > 123))
{
// Then is not A to Z so do nothing - wait a bit
}
else
{
// Make lower case into upper case
if (charEntered > 96)
{
charEntered = charEntered - 32;
}
if ((charEntered > 64)&&(charEntered < 91)) { newServoPosition = rotation [charEntered - 65]; // Set where to turn the arm to rotateServo(); } // Show what was sent: Serial.print("You sent me: \'"); Serial.write(charEntered); Serial.print("\' ASCII Value: "); Serial.println(charEntered); pressDown (); } rotaryServo.detach (); // Stop random movements } /********************************************************************************* * Push the finger down - make sure it is up before returning ! *********************************************************************************/ void pressDown() { verticalServo.attach (verticalPin); // Attach the finger servo delay(500); for (int i= 0; i < up-down; i++) { verticalServo.write (up-i); // Finger down one degree at a time delay(10); } delay(2000); for (int i= 0; i < up-down; i++) { verticalServo.write (down +i); // Finger up one degree at a time delay(10); } delay(500); verticalServo.detach (); // Stop random movements } /********************************************************************************* * Move the arm around - make sure that the finger is up before using it *********************************************************************************/ void rotateServo() { int difference; int noOfSlowSteps = 5; // No of degrees to move slowly was 5 int waitForServo = 20; // Do not reduce too much or it misses steps verticalServo.attach (verticalPin); // Attach the finger servo verticalServo.write (up); // Make sure it's out of the way verticalServo.detach (); // Detach difference = newServoPosition - currentServoPosition; if (difference > noOfSlowSteps)
{
rotaryServo.write (newServoPosition - noOfSlowSteps); // Quickly move
currentServoPosition = newServoPosition - noOfSlowSteps; // Note new position
}
if (difference < -1*noOfSlowSteps) { rotaryServo.write (newServoPosition + noOfSlowSteps); // Quickly move currentServoPosition = newServoPosition + noOfSlowSteps; // Note new position } difference = newServoPosition - currentServoPosition; // Recalculate difference if (difference > 0)
// Then slowly increase current position until difference is 0
{
for (int i = 0; i < difference+1; i++) { rotaryServo.write (currentServoPosition + i); delay (waitForServo); } } else // Then slowly decrease current position until difference is 0 { for (int i = 0; i < (-1*difference)+1; i++) { rotaryServo.write (currentServoPosition - i); delay (waitForServo); } } currentServoPosition = newServoPosition; // Remember where arm is } /********************************************************************************** * windscreen wiper test **********************************************************************************/ /* for (letter=0; letter < numberOfLetters; letter++) { newServoPosition = rotation [letter]; // Set where to turn the arm to rotateServo(); // Serial.print("rotation [letter] "); // Serial.println(rotation [letter]); } delay(5000); for (letter=numberOfLetters; letter +1 > 0; letter--)
{
newServoPosition = rotation [letter]; // Set where to turn the arm to
rotateServo();

// Serial.print("rotation [letter] ");
// Serial.println(rotation [letter]);
}
delay(5000); */