Corvette 1.1

//Optical Tachiometer: http://www.instructables.com/id/Arduino-Based-Optical-Tachometer/

/* These constants determine the distances for the speed-up and full speed portions */
int const halfmeterstart = 10; 
int const eighthalfmeterfast = 100;

/* These constants determine the distances for the slow down and stop incriments */
int const ninemeterend       = 110;
int const ninehalfmeterend   = 120;
int const tenmeterend        = 130;
int const tenhalfmeterend    = 140;     //all values in this section are presently untested
int const elevenmeterend     = 150;
int const elevenhalfmeterend = 160;
int const twelvemeterend     = 180;

/* These variables assign the pins of the various inputs and outputs */
int  binaryout = 0;     // variable to store the binary value to run the car a specified distance
int  pace      = 0;     // variable to store the speed of the motor during transitions
int  BinButton = 2;     // pin to connect the binary Button
int  IRtrans   = 3;     // pin to connect the optical tachiometer   https://www.fairchildsemi.com/application-notes/AN/AN-3005.pdf
int  GoSwitch  = 4;     // pin to connect the start Button
int  motor1    = 5;     // pin to connect to motor input 1 and 4
int  motor2    = 6;     // pin to connect to motor input 2 and 3

/* These variables assign the pins of the binary lights */
int ledPin[] = {8,9,10,11,12};   // Array where the LEDs are connected
const byte pinCount = 5;         // how many leds

/* These constants determine the debonce parameters */
long time = 0;          // used for debounce
long debounce = 100;    // how many ms to "debounce"

/* These constants must be 'volatile' to be used with the interrupt functions */
volatile int presses;   // variable used for BinBinButton interupt
volatile int senses;    // variable used for optical tachiometer



void setup()
{
  /* Incriment through the binary lights, setting them each as outputs */
  for (int i =0;i<5;i++)
  {
    pinMode(ledPin[i], OUTPUT);
  }

  /* Assign the inputs and outputs as such */
  pinMode(BinButton, INPUT_PULLUP);
  pinMode(IRtrans,   INPUT);
  pinMode(GoSwitch,  INPUT_PULLUP);
  pinMode(motor1,    OUTPUT);
  pinMode(motor2,    OUTPUT);

  /* use pin 2 which has interrupt 0 on Arduino UNO */
  attachInterrupt(digitalPinToInterrupt(BinButton), count, LOW);
  /* use pin 3 which has interrupt 1 on Arduino UNO */
  attachInterrupt(digitalPinToInterrupt(IRtrans), sense, FALLING); //this may need adjusted based on phototransistor function
  
  Serial.begin(9600);
}





void loop() 
{
  if (presses<=8)
  {
    displayBinary(presses);
    
    // Serial Print values
    Serial.print("Presses: ");
    Serial.print(presses);
    Serial.print("     Senses: ");
    Serial.println(senses);
    
    // Check if the GO switch has been pressed, and then run the car
    if (digitalRead(GoSwitch) == LOW)
    {
     if(millis() - time > debounce) compete(binaryout);
     time = millis();
    }

    if (presses == 1){
      binaryout == ninemeterend;
    }    
    if (presses == 2){
      binaryout == ninehalfmeterend;
    }
    if (presses == 3){
      binaryout == tenmeterend;
    }
    if (presses == 4){
      binaryout == tenhalfmeterend;
    }
    if (presses == 5){
      binaryout == elevenmeterend;
    }
    if (presses == 6){
      binaryout == elevenhalfmeterend;
    }  
    if (presses == 7){
      binaryout == twelvemeterend;
    }

    delay(50);
    
  }else{
   // loop from the lowest pin to the highest:
   for (int thisPin = 0; thisPin < pinCount; thisPin++) {
    // turn the pin on:
    digitalWrite(ledPin[thisPin], HIGH);
    delay(100);
    // turn the pin off:
    digitalWrite(ledPin[thisPin], LOW);
    }
  // loop from the highest pin to the lowest:
  for (int thisPin = pinCount - 1; thisPin >= 0; thisPin--) {
    // turn the pin on:
    digitalWrite(ledPin[thisPin], HIGH);
    delay(100);
    // turn the pin off:
    digitalWrite(ledPin[thisPin], LOW);
  }
  presses = 0;
 }
}





/* function to run the car */
void compete(int binaryout){ 
  /* Wait a half-second to move */
  delay(500);

  /* Get up to speed */
  while(senses < halfmeterstart){
  //make this fancy
  for(int pace = 0; pace < 255; pace ++){
  analogWrite(motor1, pace);
  digitalWrite(motor2, LOW); 
    }
  } 

  /* Over the timed interval, operate at full power */
  while(senses >= halfmeterstart && senses < eighthalfmeterfast){
  digitalWrite(motor1, HIGH);
  digitalWrite(motor2, LOW); 
  }
  
  /* Stop the car at the distance designated by the binary counter */
  while(senses > halfmeterstart && senses > eighthalfmeterfast && senses < binaryout){
  //make this fancy
  for(int pace = 255; pace < 175; pace --){
  analogWrite(motor1, pace);
  digitalWrite(motor2, LOW); 
    }
  analogWrite(motor1, pace);
  digitalWrite(motor2, LOW);
  }  

  /* reverse powerr for a more accurate stop */
  digitalWrite(motor1, LOW);
  digitalWrite(motor2, HIGH);
  delay(250);
  digitalWrite(motor1, LOW);
  digitalWrite(motor2, LOW);
  }





void displayBinary(byte numToShow)
{
  for (int i =0;i<5;i++)
  {
    if (bitRead(numToShow, i)==1)
    {
      digitalWrite(ledPin[i], HIGH); 
    }
    else
    {
      digitalWrite(ledPin[i], LOW); 
    }
  }
}




/* function to count the presses */
void count() { 
  detachInterrupt(digitalPinToInterrupt(IRtrans)); 
  // we debounce the BinButton and increase the presses
  if(millis() - time > debounce)  presses++;
  time = millis();
  senses = 0;
  attachInterrupt(digitalPinToInterrupt(IRtrans), sense, FALLING); 
}





/* function to use the IR sensor */
void sense() { 
  // incriment the sense value up
  senses++;
}