// Assign Arduino pin numbers to variables

#define RELAY1 9

#define RELAY2 10

#define RELAY3 11

#define RELAY4 12

#define BUZZER 8

#define LOOP 7

#define RESET 6

#define LIMIT 3

#define STOP 2

boolean stop = LOW;

volatile int autoloop = LOW;

volatile int killswitch = LOW;

volatile int coverflag = 0;

volatile int loopbtnval = HIGH;

volatile int relay1flag = LOW;

volatile int relay2flag = LOW;

volatile int relay3flag = LOW;

volatile int relay4flag = LOW;

void setup()

// Setup codes that will run once at the beginning of the program

// Assign variables as input or output

pinMode(RELAY1, OUTPUT);

pinMode(RELAY2, OUTPUT);

pinMode(RELAY3, OUTPUT);

pinMode(RELAY4, OUTPUT);

pinMode(BUZZER, OUTPUT);

pinMode(LOOP, INPUT);

pinMode(STOP, INPUT);

pinMode(RESET, INPUT);

attachInterrupt(digitalPinToInterrupt(STOP), OFF, LOW); // Stop

button is normally close
 attachInterrupt(digitalPinToInterrupt(LIMIT), COVERLIMIT, HIGH); //
Limit button is normally close but initial state is open

pinMode(13, OUTPUT);

digitalWrite(RELAY1, HIGH); // Deactivate Relay 1

digitalWrite(RELAY2, HIGH); // Deactivate Relay 2

digitalWrite(RELAY3, HIGH); // Deactivate Relay 3

digitalWrite(RELAY4, HIGH); // Deactivate Relay 4

void loop()

while(stop==LOW)

// Loop codes that will run repeatedly

int loopbtnval = digitalRead(LOOP); // Read and save the value of

the pin to the variable

if(loopbtnval==LOW)

if (relay1flag==LOW && relay2flag==LOW && relay3flag==LOW &&

relay4flag==LOW) // Check if button is not pressed mid-process

autoloop=HIGH;
 }

else

autoloop=LOW;

if (autoloop==HIGH && killswitch==LOW) // Loop button is normally close.

Check if circuit is open then execute code.

ZERO();

FEED();

UNCOVER();

COVER();

if(coverflag==3) // Check if limiting switch is in

final position

COMPRESS();

RECOIL();

UNCOVER();

EXTRACT();

}
 int resetbtnval = digitalRead(RESET);

if(resetbtnval==LOW)

INITIAL();

if (killswitch==HIGH)

KILL();

void buzz(unsigned char time)

// Process involved in this function is pulse width modulation

analogWrite(BUZZER,170); // Send analog signal for 170 ms to the

buzzer to activate it.

delay(time); // Wait for specified amount of time

analogWrite(BUZZER,0); // Stop analog signal to the buzzer to

deactivate it.

delay(time); // Wait for specified amount of time

}

void FEED()

// Make sure vertical hydraulic is not moving

digitalWrite(RELAY1, HIGH); // Deactivate Relay 1

digitalWrite(RELAY2, HIGH); // Deactivate Relay 2

// Proceed to feed

digitalWrite(RELAY3, LOW); // Activate normally close Relay 3

(PUSH)

relay3flag = HIGH;

delay(9700); // Wait for 10 s (time it takes for full

push out)

digitalWrite(RELAY3, HIGH); // Deactivate Relay 3

relay3flag = LOW;

void COVER()

// Make sure vertical hydraulic is not moving

digitalWrite(RELAY1, HIGH); // Deactivate Relay 1

digitalWrite(RELAY2, HIGH); // Deactivate Relay 2

 // Proceed to cover

digitalWrite(RELAY3, LOW); // Activate normally close Relay 3

(PUSH)

relay3flag = HIGH;

delay(4350); // Waite for 5 s (maximum time for cover

position)

digitalWrite(RELAY3, HIGH); // Deactivate Relay 3

relay3flag = LOW;

void COMPRESS()

// Make sure horizontal hydraulic is not moving

digitalWrite(RELAY3, HIGH); // Deactivate Relay 3

digitalWrite(RELAY4, HIGH); // Deactivate Relay 4

// Proceed to compress

digitalWrite(RELAY1, LOW); // Activate normally close Relay 1 (UP)

relay1flag = HIGH;

delay(7000); // Wait for 11 s (maximum time for

compress position)

digitalWrite(RELAY1, HIGH); // Deactivate Relay 1

relay1flag = LOW;

}
void UNCOVER()

// Make sure vertical hydraulic is not moving

digitalWrite(RELAY1, HIGH); // Deactivate Relay 1

digitalWrite(RELAY2, HIGH); // Deactivate Relay 2

// Proceed to uncover

digitalWrite(RELAY4, LOW); // Activate Relay 4 (PULL)

relay4flag = HIGH;

delay(8500); // Wait 10 s

digitalWrite(RELAY4, HIGH); // Deactivate Relay 4

relay4flag = LOW;

void EXTRACT()

// Make sure horizontal hydraulic is not moving

digitalWrite(RELAY3, HIGH); // Deactivate Relay 3

digitalWrite(RELAY4, HIGH); // Deactivate Relay 4

// Proceed to extract

digitalWrite(RELAY1, LOW); // Activate normally close Relay 1 (UP)

relay1flag = HIGH;

delay(13500); // Wait 20 s (maximum time for extract

position)
 digitalWrite(RELAY1, HIGH); // Deactivate Relay 1

relay1flag = LOW;

void ZERO()

//

digitalWrite(RELAY2, LOW); // Activate normally close Relay 2

(DOWN)

relay2flag = HIGH;

delay(11700); // Wait 10 s (maximum time for extract

position)

digitalWrite(RELAY2, HIGH); // Deactivate Relay 2

relay2flag = LOW;

void OFF()

digitalWrite(13, HIGH);

killswitch=HIGH;

void COVERLIMIT()

coverflag+=1;

}
void RECOIL()

//

digitalWrite(RELAY2, LOW); // Activate normally close Relay 2

(DOWN)

relay2flag = HIGH;

delay(3000); // Wait 10 s (maximum time for extract

position)

digitalWrite(RELAY2, HIGH); // Deactivate Relay 2

relay2flag = LOW;

void KILL()

stop = HIGH;

digitalWrite(RELAY1, HIGH); // Deactivate Relay 1

digitalWrite(RELAY2, HIGH); // Deactivate Relay 2

digitalWrite(RELAY3, HIGH); // Deactivate Relay 3

digitalWrite(RELAY4, HIGH); // Deactivate Relay 4

void INITIAL()

// Make sure vertical hydraulic is not moving

digitalWrite(RELAY1, HIGH); // Deactivate Relay 1

 digitalWrite(RELAY2, HIGH); // Deactivate Relay 2

// Proceed to uncover

digitalWrite(RELAY4, LOW); // Activate Relay 4 (PULL)

relay4flag = HIGH;

delay(8500); // Wait 10 s

digitalWrite(RELAY4, HIGH); // Deactivate Relay 4

relay4flag = LOW;

// Make sure horizontal hydraulic is not moving

digitalWrite(RELAY3, HIGH); // Deactivate Relay 3

digitalWrite(RELAY4, HIGH); // Deactivate Relay 4

// Proceed to extract

digitalWrite(RELAY1, LOW); // Activate normally close Relay 1 (UP)

relay1flag = HIGH;

delay(15000); // Wait 20 s (maximum time for extract

position)

digitalWrite(RELAY1, HIGH); // Deactivate Relay 1

relay1flag = LOW;