Arduino IPCam – Part 2 (Arduino Code)

//include Libraries
#include <LiquidCrystal.h>
#include <String.h>
#include <Servo.h>

//Our Two servos - Pan and Tilt
Servo panServo;
Servo tiltServo;
 
// initialize the LCD with the numbers of the interface pins
LiquidCrystal lcd(12, 11, 5, 4, 3, 2);
 
//Some default vars
 
//Where the default positions should be, servos go from 0-180 so 90 is centered for horizontal and vertical
int currentPos = 90;
int verticalPos = 90;
 
//Where our scrolling text position is
int currentTextPos = 0;
 
//Which pin holds our green LED (that we can blink)
int greenLed = 13;
 
//Default display text
String dispText = "";
 
//Initialisation Function - Setup the LCD[1],Serial[2],LED[3] and Servos[4-7]
void setup()
{  
 
	lcd.begin(16, 2);  
	Serial.begin(9600);
	pinMode(greenLed, OUTPUT);
	tiltServo.attach(9);
	tiltServo.write(currentPos);
	panServo.attach(8);
	panServo.write(verticalPos);
 
}
 
//What to do when we recieve a command in, pretty self containing, not nice code but meh, PoC baby.
void parseCommand(String command)
{
  if(command == "clearLCD")
  {
    clearLCD();
  }
  else if (command == "blinkLEDs")
  {
    blinkLEDs();
  }
  else if(command == "servoLeft")
  {
    moveServo("left");
  }
  else if(command == "servoRight")
  {
    moveServo("right");
  }
  else if(command == "servoDown")
  {
    moveServo("down");
  }
  else if(command == "servoUp")
  {
    moveServo("up");
  }
  else if(command == "fullRight")
  {
    currentPos = 0;
    panServo.write(currentPos);
  }
  else if(command == "centerServo")
  {
    currentPos = 90;
    panServo.write(currentPos);
  }
  else if(command == "fullLeft")
  {
    currentPos = 180;
    panServo.write(currentPos);
  }
  else if(command == "fullDown")
  {
    verticalPos = 180;
    tiltServo.write(verticalPos);
  }
  else if(command == "fullUp")
  {
    verticalPos = 0;
    tiltServo.write(verticalPos);
  }
  else if(command == "vcenterServo")
  {
    verticalPos = 90;
    tiltServo.write(verticalPos);
  }
 
 
}
 
//Function to move the servos based on text, basically does ++ and -- if within range
void moveServo(String position)
{
	//++Left and Right 
	if (position == "left")
	{
		if(currentPos < 180)
		{
			currentPos = currentPos + 10;
			panServo.write(currentPos);
		}
	}
	else if (position == "right")
	{
		if(currentPos > 0)
		{
			currentPos = currentPos - 10;
			panServo.write(currentPos);
		}
	}
	//--Left and Right
 
	//++Up and Down
	if (position == "up")
	{
		if(verticalPos > 0)
		{
			verticalPos = verticalPos - 30;
			tiltServo.write(verticalPos);
		}
 
	}
	else if (position == "down")
	{
		if(verticalPos < 180)
		{
			verticalPos = verticalPos + 30;
			tiltServo.write(verticalPos);
		}
	}
	//--Up and Down
 
}
 
//Silly little function to blink the LED, waits 2 seconds then does ON/OFF with 100ms delay after each
void blinkLEDs()
{
  delay(2000);
  for(int i=0;i<20;i++)
  {
    digitalWrite(greenLed,HIGH);
    delay(100);
    digitalWrite(greenLed,LOW);
    delay(100);
  }
 
}
 
//Main command checker - basically checks for commands, which are between {}, eg. {command}, if it finds it, sends it to the parser
void checkText()
{
 
  if(dispText.length() > 1)
  {
    int commandStart = dispText.indexOf('{');
    int commandEnd = dispText.indexOf('}');
    if(commandStart != -1 && commandEnd != -1)
    {
      String commandText = dispText.substring(commandStart+1,commandEnd);
      dispText = dispText.substring(0,commandStart);
      parseCommand(commandText);
    }
  }
}
 
//Clear LCD
void clearLCD()
{
  dispText = "";
  lcd.clear();
}
 
//Main Loop, waits for bytes to come in, adds them to our dispText, otherwise it scrolls it, and then does the checking of that text
void loop()
{
  char incomingByte = 0;
 
  if (Serial.available()) 
  {
    while(Serial.available() > 0)
    {
      incomingByte = Serial.read();
      dispText = dispText + incomingByte;
      lcd.clear();
      lcd.print(dispText);
    }
  }   
  else
  {
    currentTextPos++;
    int txtLen = dispText.length() + 16;
    if(currentTextPos > txtLen)
    {
      lcd.clear();
      lcd.print("                ");
      lcd.print(dispText);
      currentTextPos = 0;
    }
    lcd.scrollDisplayLeft();
    delay(300);
  }
  checkText();
 
}