Piloto automático para veleros (sistema de gobierno automático)

Código

• Bosquejo del piloto automático (para Uno)
• Boceto de WatchDog (para Nano)

Boceto del piloto automático (para Uno) Arduino

 / * Este boceto actúa como piloto automático para veleros pequeños, por Marco Zonca, Arduino UNO 2019 como CPU, Arduino Nano como perro guardián, GPS BT-220 nmea, motor paso a paso + controlador, rf433Mhz RC, 6 botones, zumbador, i2c pantalla, 2 leds, i2c 24c04 eeprom, Mux 4051 para sensores, lipo 2s 7.4v 2600mA, regulador de voltaje 7805, termistor; * / # incluye  #include  #include  # include  String inputString =""; String nm_time ="00:00:00"; String nm_validity ="V"; String nm_latitude ="ddmm.mmmm'N"; String nm_longitude ="dddmm.mmmm'E "; String nm_knots =" 0.0kn "; float nmf_knots =0.0; String nm_truecourse =" 360 "; float nmf_truecourse =360; String nm_date =" dd / mm / aaaa "; String nm_routetofollow =" 000 "; float nmf_routetofollow =0; unsigned long previousStearingMillis =0; unsigned long currentStearingMillis =0; unsigned long prevCheckSensorsMillis =0; unsigned long currCheckSensorsMillis =0; int CheckSensorsInterval =10000; bool stringComplete =false; bool isfirstfix =true; bool ispause =true; bool isStearing =false; bool isSetup =false; int s =0; int y =0; int z =0; int d =0; int rfRemoteControlValue =0; int HWButtonValue =0; int SetupParameter =0; float calcmove =0; float cm =0; float Stearing =0; float prevStearing =0; float t =0; int EEdisk =0x50; int EEid1 =0x29; int EEid2 =0x00; unsigned int EEaddress =0; unsigned int EEbytes =12; byte EEdata [12]; byte EEbytedata; int EEerr =0; float SensorVBatt =0; float SensorVRes =0; float SensorTemp =0; float SensormAmp =0; // los siguientes parámetros son los predeterminados pero se leen / escriben eeprom // eeprom se inicializa si en las direcciones 0 y 1 el contenido es diferente dirección len tipo notas // 0-255 bytes en 0x50 EEdisk, 256-512 bytes en 0x51 (no usado) ---------- -------------------------------------------------- --- // 0 1B byte 01001001 (0x29 como proyecto de piloto automático id1) // 1 1B byte 00000000 (0x00 "" id2) int StearingInterval =2000; // milisegundos entre try y back 2 2B int StearingInterval 1000-5000 pasos 100int StearingMinToMove =2; // grados_de_brújula 4 2B int StearingMinToMove 0-20 pasos 1int StearingMaxMove =40; // grados_de_brújula 6 2B int StearingMaxMove 10-45 pasos 1float StearingCoeffMove =1.5; // utilizado como (grados_de_brújula * coeff) 8 4B float StearingCoeffMove 0.1-4 pasos 0.1 // 12 libres // byte bStearingInterval [sizeof (int)]; byte bStearingMinToMove [sizeof (int)]; byte bStearingMaxMove [sizeof (int)]; byte bStearingCoeffMove [sizeof (float)]; int prev_StearingInterval =0; int prev_StearingMinToMove =0; int prev_StearingMaxMove =0; float prev_StearingCoeffMove =0; const int ledpausePin =2; const Mucho int watchDogPin =3 // 00 =Vin 01 =Vbatt 10 =Tempconst int MuxSelBit1Pin =6; // const int motorsABenablePin =13; const int MuxIOPin =14; const int ButtonsPin =15; const int rfRemoteControlPin =16; const int speakerPin =17; const int RCleftbutton =201; const int RCrightbutton =202; const int RCleft10button =203; const int RCright10button =204; const int HWleftbutton =101; const int HWrightbutton =102; const int HWpausebutton =103; const int HWsetupbutton =104; const int HWleft10button =105; const int HWright10button =106; const int motorSteps // 200 para modelo 23LM, 54 pasos =1/4 de revolución LiquidCrystal_I2C lcd (0x27, 2, 1, 0, 4, 5, 6, 7, 3, POSITIVO); Motor paso a paso (motorStepsPerRevolution, 9, 10, 11, 12 ); void setup () {Serial.begin (4800); lcd. comienzo (16,2); Wire.begin (); motor.setSpeed ​​(60); inputString.reserve (200); pinMode (motorsABenablePin, OUTPUT); pinMode (MuxSelBit0Pin, SALIDA); pinMode (MuxSelBit1Pin, SALIDA); digitalWrite (motorsABenablePin, LOW); digitalWrite (MuxSelBit0Pin, BAJO); digitalWrite (MuxSelBit1Pin, BAJO); pinMode (ledpausePin, SALIDA); pinMode (watchDogPin, SALIDA); digitalWrite (ledpausePin, BAJO); digitalWrite (watchDogPin, BAJO); // leer + comprobar EEPROM (formatear si es nuevo (o no identificado)) lcd.clear (); lcd.setCursor (0,0); lcd.print ("Comprobación de memoria ..."); lcd.setCursor (0,1); para (s =0; s  =CheckSensorsInterval) {readMuxSensors (); if ((SensorVBatt <=7.0) || (SensorTemp>
 =50)) {lcd.clear (); lcd.setCursor (0,0); lcd.print ("¡Sensores de alarma!"); lcd.setCursor (1,1); lcd.print ("V ="); lcd.print (SensorVBatt); lcd.print (""); lcd.print (int (SensorTemp)); lcd.write (0xDF); lcd.print ("C"); NewTone (speakerPin, 10); retraso (1000); noNewTone (); } prevCheckSensorsMillis =currCheckSensorsMillis; } // CONTROL DE DIRECCIÓN ---------------- currentStearingMillis =millis (); if (currentStearingMillis - previousStearingMillis> =StearingInterval) {if (isStearing ==false &&ispause ==false) {// intenta (mueve stearing) calcmove =nmf_routetofollow - nmf_truecourse; if (calcmove <(-180)) {calcmove =calcmove + 360; } else {if (calcmove> (+180)) {calcmove =calcmove - 360; }} if (abs (calcmove)> =StearingMinToMove) {if (abs (calcmove)> =StearingMaxMove) {if (calcmove <0) {cm =(StearingMaxMove * -1); calcmove =cm; } else {cm =(StearingMaxMove * 1); calcmove =cm; }} Stearing =(calcmove * StearingCoeffMove); gomotor (int ((Stearing * 216) / 360)); // 54 pasos =1/4 de revolución prevStearing =Stearing; isStearing =true; }} else {// retroceder (mover el timón a la posición "cero") if (isStearing ==true) {Stearing =(prevStearing * -1); gomotor (int ((Stearing * 216) / 360)); // 54 pasos =1/4 de revolución Stearing =0; prevStearing =0; isStearing =falso; }} previousStearingMillis =currentStearingMillis; } // BOTONES RC RF ------------------ rfRemoteControlValue =checkRfRC (); if (rfRemoteControlValue) {switch (rfRemoteControlValue) {case RCleftbutton:// Botón izquierdo RC goleft (); descanso; case RCrightbutton:// Botón RC derecho goright (); descanso; case RCleft10button:// Left-10 RC button goleft10 (); descanso; case RCright10button:// Derecha + 10 botón RC goright10 (); descanso; }} // BOTONES ------------------------ HWButtonValue =checkHWButtons (); if (HWButtonValue) {switch (HWButtonValue) {case HWleftbutton:// Botón izquierdo (-1) HW if (isSetup ==false) {goleft (); } else {setupMinus (); } descanso; case HWrightbutton:// Botón derecho (+1) HW if (isSetup ==false) {goright (); } más {setupPlus (); } descanso; case HWpausebutton:// Botón de pausa HW gopause (); descanso; case HWsetupbutton:// Configurar el botón HW gosetup (); descanso; case HWleft10button:// Botón izquierdo (-10) HW goleft10 (); descanso; case HWright10button:// Derecha (+10) Botón HW goright10 (); descanso; }} // GPS NMEA ------------------ if (stringComplete ==true) {// recibió la sentencia nmea por el puerto serie RX bool ret; ret =nmeaExtractData (); inputString =""; stringComplete =falso; if (ret ==true) {RefreshDisplay (); }} // ALIMENTACIÓN DEL PERRO RELOJ ---------------- if (digitalRead (watchDogPin) ==LOW) {digitalWrite (watchDogPin, HIGH); } else {digitalWrite (watchDogPin, LOW); }} // leer sensores en multiplexervoid readMuxSensors () {float Vo =0; flotar n =0; flotador n1 =0; flotar v1ad =0; flotar v2ad =0; flotador corr =0; flotador R1 =10000; flotador logR2 =0; flotar R2 =0; flotador T =0; flotador c1 =1,009249522e-03; flotador c2 =2.378405444e-04; flotador c3 =2.019202697e-07; digitalWrite (MuxSelBit0Pin, BAJO); // 00 =Vbatt digitalWrite (MuxSelBit1Pin, LOW); n =analogRead (MuxIOPin); v1ad =n; n1 =(((10,00 * n) / 1023,00)); SensorVBatt =(n1 + ((n1 * 0.0) / 100)); // corrección arbitraria (inactiva =0.0%) digitalWrite (MuxSelBit0Pin, LOW); // 01 =Vres digitalWrite (MuxSelBit1Pin, HIGH); n =analogRead (MuxIOPin); v2ad =n; n1 =(((10,00 * n) / 1023,00)); SensorVRes =(n1 + ((n1 * 0.0) / 100)); // corrección arbitraria (inactiva =0.0%) digitalWrite (MuxSelBit0Pin, HIGH); // 10 =NTC Temp digitalWrite (MuxSelBit1Pin, LOW); Vo =analogRead (MuxIOPin); R2 =R1 * (1023,0 / Vo - 1,0); logR2 =log (R2); T =(1.0 / (c1 + c2 * logR2 + c3 * logR2 * logR2 * logR2)); SensorTemp =T - 273,15; // Celsius n =(v1ad - v2ad); n1 =(n / 0,22) * 1000,00; SensormAmp =(((10.00 * n1) / 1023.00));} // extraer datos de nmea inputStringbool nmeaExtractData () {bool ret =false; // verdadero si nmea oración =$ GNRMC y CHKSUM válido if ((inputString.substring (0,6) =="$ GNRMC") &&(inputString.substring (inputString.length () - 4, inputString.length () - 2) ==nmea0183_checksum (inputString))) {y =0; para (s =1; s <11; s ++) {y =inputString.indexOf (",", y); switch (s) {caso 1:// tiempo z =inputString.indexOf (",", y + 1); if (z> (y + 1)) {nm_time =inputString.substring (y + 1, y + 2 + 1) + ":" + inputString.substring (y + 1 + 2, y + 4 + 1) + " :"+ inputString.substring (y + 1 + 4, y + 6 + 1); } y =z; descanso; caso 2:// validez z =inputString.indexOf (",", y + 1); if (z> (y + 1)) {nm_validez =inputString.substring (y + 1, y + 1 + 1); } y =z; descanso; caso 3:// latitud z =inputString.indexOf (",", y + 1); if (z> (y + 1)) {nm_latitude =inputString.substring (y + 1, y + 2 + 1) + "" + inputString.substring (y + 1 + 2, y + 10 + 1) + "' "; } y =z; descanso; caso 4:// norte / sur z =inputString.indexOf (",", y + 1); if (z> (y + 1)) {nm_latitude =nm_latitude + inputString.substring (y + 1, y + 1 + 1); } y =z; descanso; caso 5:// longitud z =inputString.indexOf (",", y + 1); if (z> (y + 1)) {nm_longitude =inputString.substring (y + 1, y + 3 + 1) + "" + inputString.substring (y + 1 + 3, y + 11 + 1) + "' "; } y =z; descanso; caso 6:// este / oeste z =inputString.indexOf (",", y + 1); if (z> (y + 1)) {nm_longitude =nm_longitude + inputString.substring (y + 1, y + 1 + 1); } y =z; descanso; caso 7:// nudos de velocidad z =inputString.indexOf (",", y + 1); if (z> (y + 1)) {nmf_knots =inputString.substring (y + 1, z) .toFloat (); t =roundOneDec (nmf_nudos); nm_knots =Cadena (t, 1) + "kn"; } y =z; descanso; caso 8:// curso verdadero z =inputString.indexOf (",", y + 1); if (z> (y + 1)) {nmf_truecourse =inputString.substring (y + 1, z) .toFloat (); d =nmf_truecourse; nm_truecourse =d; } y =z; descanso; caso 9:// fecha z =inputString.indexOf (",", y + 1); if (z> (y + 1)) {nm_date =inputString.substring (y + 1, y + 2 + 1) + "/" + inputString.substring (y + 1 + 2, y + 4 + 1) + " /20"+inputString.substring(y+1+4,y+6+1); } y =z; descanso; caso 10:// las sentencias se rompen; predeterminado:// sentencias se rompen; }} si ((isfirstfix ==true) || (ispause ==true)) {nm_routetofollow =nm_truecourse; nmf_routetofollow =nmf_truecourse; isfirstfix =falso; } ret =verdadero; } return ret;} // aumenta (+) el valor del parámetro durante setupvoid setupPlus () {switch (SetupParameter) {caso 2:// intervalo StearingInterval =(StearingInterval + 100); if (StearingInterval> 5000) {StearingInterval =5000; } descanso; caso 3:// min. para mover StearingMinToMove =(StearingMinToMove + 1); if (StearingMinToMove> 20) {StearingMinToMove =20; } descanso; caso 4:// max. mover StearingMaxMove =(StearingMaxMove + 1); if (StearingMaxMove> 45) {StearingMaxMove =45; } descanso; caso 5:// coeficiente StearingCoeffMove =(StearingCoeffMove + 0.1); if (StearingCoeffMove> 4) {StearingCoeffMove =4; } descanso; } retraso (200); RefreshDisplay ();} // disminuye (-) el valor del parámetro durante setupvoid setupMinus () {switch (SetupParameter) {caso 2:// intervalo StearingInterval =(StearingInterval - 100); if (StearingInterval <1000) {StearingInterval =1000; } descanso; caso 3:// min. para mover StearingMinToMove =(StearingMinToMove - 1); if (StearingMinToMove <0) {StearingMinToMove =0; } descanso; caso 4:// max. mover StearingMaxMove =(StearingMaxMove - 1); if (StearingMaxMove <10) {StearingMaxMove =10; } descanso; caso 5:// coeficiente StearingCoeffMove =(StearingCoeffMove - 0.1); if (StearingCoeffMove <0.1) {StearingCoeffMove =0.1; } descanso; } retraso (200); RefreshDisplay ();} // control del motor (+) =avance (-) =retrocesovoid gomotor (int stepsToMove) {digitalWrite (motorsABenablePin, HIGH); motor.step (stepsToMove); digitalWrite (motorsABenablePin, LOW);} // actualizar datos en displayvoid RefreshDisplay () {if (isSetup ==false) {// --------- normal lcd.clear (); lcd.setCursor (0,0); lcd.print ("R" + nm_routetofollow); lcd.write (0xDF); lcd.print ("H" + nm_verdadero); lcd.write (0xDF); if (ispause ==true) {lcd.print ("DETENER"); } else {if (Stearing> 0) {lcd.print ("+"); } if (Stearing ==0) { lcd.print(" "); } if (Stearing <0) { lcd.print(" "); } lcd.print(int(Stearing)); } lcd.setCursor(0,1); lcd.print(nm_time+" "+nm_knots); } if (isSetup ==true) { //-----------setup lcd.clear(); lcd.setCursor (0,0); lcd.print("setup:"); switch (SetupParameter) { case 1://display sensors readMuxSensors(); lcd.print("V="); lcd.print(SensorVBatt); lcd.setCursor (1,1); lcd.print("mA="); lcd.print(int(SensormAmp)); lcd.print (""); lcd.print(int(SensorTemp)); lcd.write(0xDF); lcd.print("C"); descanso; case 2://interval lcd.print("interval"); lcd.setCursor (7,1); lcd.print(StearingInterval); lcd.print(" mSec"); descanso; case 3://min. to move lcd.print("minimum"); lcd.setCursor (7,1); lcd.print(StearingMinToMove); lcd.write(0xDF); descanso; case 4://max. move lcd.print("max"); lcd.setCursor (7,1); lcd.print(StearingMaxMove); lcd.write(0xDF); descanso; case 5://coefficient lcd.print("coeffic."); lcd.setCursor (7,1); lcd.print(StearingCoeffMove); lcd.print(" x "); lcd.write(0xDF); descanso; } }}/* SerialEvent occurs whenever a new data comes in the hardware serial RX. This routine is run between each time loop() runs, so using delay inside loop can delay response. Multiple bytes of data may be available.*/void serialEvent() { while (Serial.available()) { char inChar =(char)Serial.read(); inputString +=inChar; // if the incoming character is a newline, set a flag so the main loop can // do something about it if (inChar =='\n') { stringComplete =true; } } }//calculate checksum of nmea sentenceString nmea0183_checksum(String nmea_data) { int crc =0; String chSumString =""; int i; // ignore the first $ sign, checksum in sentence for (i =1; i <(nmea_data.length()-5); i ++) { // remove the - 5 if no "*" + cksum + cr + lf are present crc ^=nmea_data[i]; } chSumString =String(crc,HEX); if (chSumString.length()==1) { chSumString="0"+chSumString.substring(0,1); } chSumString.toUpperCase(); return chSumString;}//check RC which button is pressedint checkRfRC() { int n =0; int res =0; n =analogRead(rfRemoteControlPin); if ((n>350) and (n<460)) { // button A res =RCleftbutton; } if ((n> 90) and (n<190)) { // button B res =RCrightbutton; } if ((n>540) and (n<640)) { // button C res =RCleft10button; } if ((n>225) and (n<325)) { // button D res =RCright10button; } return res; }//check HW which button is pressedint checkHWButtons() { int n =0; int res =0; n =analogRead(ButtonsPin); //Serial.println(n); if ((n>465) and (n<565)) { // button left res =HWleftbutton; } if ((n>290) and (n<390)) { // button right res =HWrightbutton; } if ((n>130) and (n<220)) { // button pause res =HWpausebutton; } if ((n>625) and (n<725)) { // button setup res =HWsetupbutton; } if ((n>975) and (n<1075)) { // button left-10 res =HWleft10button; } if ((n>800) and (n<900)) { // button right+10 res =HWright10button; } return res; }void gosetup() { // setup button if (isSetup ==false) { SetupParameter =1; isSetup =true; } else { if (SetupParameter <5) { SetupParameter ++; } else { if (prev_StearingInterval !=StearingInterval || prev_StearingMinToMove !=StearingMinToMove || prev_StearingMaxMove !=StearingMaxMove || prev_StearingCoeffMove !=StearingCoeffMove) { lcd.clear(); lcd.setCursor (0,0); lcd.print("updating... "); retraso (1000); goupdateEEPROM(); if (EEerr) { lcd.print("E="); lcd.print(EEerr); retraso (1000); } prev_StearingInterval =StearingInterval; prev_StearingMinToMove =StearingMinToMove; prev_StearingMaxMove =StearingMaxMove; prev_StearingCoeffMove =StearingCoeffMove; } isSetup =false; } } NewTone (speakerPin,2000); retraso (200); noNewTone(); RefreshDisplay();}void goupdateEEPROM() { EEaddress =0; //id1 EEdata[0] =EEid1; EEbytedata =EEid1; writeEEPROM (EEdisk, EEaddress, EEbytedata); EEaddress =1; //id2 EEdata[1] =EEid2; EEbytedata =EEid2; writeEEPROM (EEdisk, EEaddress, EEbytedata); memcpy(bStearingInterval, &StearingInterval, sizeof(int)); memcpy(bStearingMinToMove, &StearingMinToMove, sizeof(int)); memcpy(bStearingMaxMove, &StearingMaxMove, sizeof(int)); memcpy(bStearingCoeffMove, &StearingCoeffMove, sizeof(float)); memcpy(EEdata+2,bStearingInterval,sizeof(int)); memcpy(EEdata+4,bStearingMinToMove,sizeof(int)); memcpy(EEdata+6,bStearingMaxMove,sizeof(int)); memcpy(EEdata+8,bStearingCoeffMove,sizeof(float)); for (s =2; s  360) { nmf_routetofollow =1; } d=nmf_routetofollow; nmf_routetofollow=d; nm_routetofollow=d; NewTone (speakerPin,800); retraso (200); noNewTone(); } else { NewTone (speakerPin,1000); retraso (50); noNewTone(); } RefreshDisplay();}void goright10() { // right 10x button/RC if (ispause ==false) { for (s =1; s <11; s ++) { nmf_routetofollow ++; if (nmf_routetofollow> 360) { nmf_routetofollow =1; } } d=nmf_routetofollow; nmf_routetofollow=d; nm_routetofollow=d; NewTone (speakerPin,800); retraso (200); noNewTone(); } else { NewTone (speakerPin,1000); retraso (50); noNewTone(); } RefreshDisplay();}void gopause() { // pause button/RC if (ispause ==true) { ispause=false; digitalWrite(ledpausePin, HIGH); NewTone (speakerPin,50); retraso (200); NewTone (speakerPin,200); delay(800); noNewTone(); } else { ispause=true; digitalWrite(ledpausePin, LOW); NewTone (speakerPin,200); retraso (200); NewTone (speakerPin,50); delay(800); noNewTone(); } RefreshDisplay();}// reading eeprombyte readEEPROM (int diskaddress, unsigned int memaddress) { byte rdata =0x00; Wire.beginTransmission (diskaddress); Wire.write (memaddress); if (Wire.endTransmission () ==0) { Wire.requestFrom (diskaddress,1); if (Wire.available()) { rdata =Wire.read(); } else { EEerr =1; //"READ no data available" } } else { EEerr =2; //"READ eTX error" } Wire.endTransmission (true); return rdata;}// writing eepromvoid writeEEPROM (int diskaddress, unsigned int memaddress, byte bytedata) { Wire.beginTransmission (diskaddress); Wire.write (memaddress); Wire.write (bytedata); if (Wire.endTransmission () !=0) { EEerr =3; //"WRITING eTX error" } Wire.endTransmission (true); retraso (5); }// round zero decimalfloat roundZeroDec(float f) { float y, d; y =f*1; d =y - (int)y; y =(float)(int)(f*1)/1; if (d>=0.5) { y +=1; } else { if (d <-0.5) { y -=1; } } return y;}// round one decimalfloat roundOneDec(float f) { float y, d; y =f*10; d =y - (int)y; y =(float)(int)(f*10)/10; if (d>=0.5) { y +=0.1; } else { if (d <-0.5) { y -=0.1; } } return y;}// round two decimalfloat roundTwoDec(float f) { float y, d; y =f*100; d =y - (int)y; y =(float)(int)(f*100)/100; if (d>=0.5) { y +=0.01; } else { if (d <-0.5) { y -=0.01; } } return y;}

WatchDog sketch (for Nano)Arduino

/* * This sketch is a Watchdog to keep CLIENT under control, on Arduino NANO 3.0 by Marco Zonca * CLIENT must feed Whatcdog sooner then feedingInterval otherwise will be forced to restart * */const int feedingPin =14;const int ledPin =15;const int restartPin =16;const int buzzerPin =17;const long ledInterval =1000;const long feedingInterval =2500;const long timeForClientStart =16000;int ledState =LOW;int previousFeedingState =LOW;int feedingState =LOW;unsigned long previousLedMillis =0;unsigned long previousFeedingMillis =0;void setup() { digitalWrite(restartPin, HIGH); // LOW will force CLIENT to restart pinMode(ledPin, OUTPUT); pinMode(buzzerPin, OUTPUT); pinMode(restartPin, OUTPUT); pinMode(feedingPin, INPUT); delay(timeForClientStart); // let time to CLIENT to start...}void loop() { unsigned long currentMillis =millis(); // BLINK LED ------------------- if (currentMillis - previousLedMillis>=ledInterval) { previousLedMillis =currentMillis; if (ledState ==LOW) {ledState =HIGH; } else {ledState =LOW; } digitalWrite (ledPin, ledState); } // CHECK THE FEEDING ------------------- feedingState =digitalRead(feedingPin); // CLIENT must set pin HIGH -> LOW frequently to prove it's alive if (feedingState ==HIGH) { if (previousFeedingState ==LOW) { previousFeedingMillis =currentMillis; } previousFeedingState =HIGH; } else { previousFeedingState =LOW; } if (currentMillis - previousFeedingMillis> feedingInterval) { // CLIENT is sleeping ledState =HIGH; digitalWrite(ledPin, ledState); tone(buzzerPin,1500); retraso (500); digitalWrite(restartPin, LOW); //restart CLIENT tone(buzzerPin,1500); retraso (500); digitalWrite(restartPin, HIGH); tone(buzzerPin,1500); delay(timeForClientStart); // let CLIENT time to restart... noTone(buzzerPin); currentMillis =millis(); previousFeedingState =LOW; previousFeedingMillis =currentMillis; previousLedMillis =currentMillis; }} 

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