18 replies to this topic

[RedFear]

So I've decided to turn this thread into a build-thread to document every mod I have to perform along the way both physical, electrical, and programming wise to make this a reality. when it's all said and done, i'll be sure to re-update the first post to turn it into a mod guide on making one yourself and providing the parts list and arduino code to make it function.

latest update:

after noise issues and flywheel burning/grip issues, I've decided to swap over to worker wheels and a brushless setup. feed issues as well meant that I settled on a telescoping brass dart guide that will keep the two FWC's aligned properly. with all the trimming i have had to do on the FWC's, a few spacers have let me slightly cant the flywheels in both cages. The battery voltage has come down to 7.2 instead of the 3s that was installed initially due to the brushless motors' kv ratings. This reduces voltage regulation circuits and makes the overall circuit much more compact.

 

List of things I must finish:
- clearance boxes in the other half of the shell to clear the motors

- ammo counting program (possibly will run on a separate arduino nano from the main arduino due to memory constraints)

 

old updates:

Spoiler

The StingRay
About 40% done.
Yet to implement: aesthetic housings and casings, ammo counter and fire select display.

Good news: arduino powers up, battery voltage monitor powers up, power button lights nicely, nothing is hot, no shorts, no electrical gremlins, semi-auto works, auto works, motors rev correctly, Code mostly figured out for the OLED display.

Bad news: no fire select switch installed yet, no IR detector/reciever implemented yet, OLED display and 7 segment display not yet installed

Images below. Click the spoiler!

Spoiler

 

 

Spoiler

Spoiler

Spoiler

Test fitted large components. everything fits well. i'm pretty happy with how everything sits tucked in. contemplating skpping on my custom-spec h-bridge and getting a premade h-bridge rated appropriately such that it'sll be easier for people to build when i write up the tutorial.

Spoiler

cutout for servo established and wire is now organized to be easily accessible near the arduino. it's a corona metal-gear high-speed/torque digital servo, and it's mounted into the right half of the shell and directly connected to the stock pusher arm (trimmed to fit)

Why this servo placement? because it's less internal work to get the blaster up and functioning in a mechanical sense. no custom mounts. just a cutout and some drilled holes, some screws and that's it. yes i'm aware that putting the servo in the rear with a direct coupling would be faster and have less slack, but this won't do when i've got my entire arduino back there.

Plans for this mod log are here:

Spoiler

So I've ordered basically all the parts I think i'll need for an arduino controller conversion on my 2-stage rayven, however since I've never worked with arduino before, I'd like to ask if anyone has precautions and lessons learned during their experience with the conversions to share. For my post about the 2-stage rayven and other after-burner mods:
http://nerfhaven.com...=1
http://nerfhaven.com...=1

Additionally, I am planning to be upgrading the motors and doing maintenance on the physical systems, (I think I burnt out the old stock motors in rear, or at least burnt out to stock wiring.)

So, I'm attempting to plan out, wire, and program the system:
-to use 20 amp transistors to drive the front/rear set of flywheels (to take out electrical arc wear on switch contacts)
-sense if magazine is empty, and type of magazine inserted (different brush contacts on different magazine types) and display ammo counter/ammo empty on oled display
-monitor and display battery voltage and safety cutoff when low voltage with BEC and 7-segment displays
-regulate higher voltage to 2 power levels for the front/rear flywheel sets (11.1v in front and 7.2v in rear) to eliminate one of the batteries
-servo-actuated fire selection
-use capacitor bank to help keep current draw smooth
-display startup/ready/status animations and warning monitoring on oled display (oled placed right above 7 segment displays as telemetry/ ammo counter)
-use micro-sd card for oled bitmaps/animations/necessary stored data
-have usb and charging hookup flush mounted to the blaster (no removing batteries, just plug blaster into to charge or program)

Hopefully if someone can give some advice, I can complete the project without too many development issues/hangups, possibly make it a write-up and post up source code and a parts list afterwards.

Are there things you think I should change, or add to make the overall modding go smoother? I'm using an arduino uno R3, but am not sure if it can handle all these inputs/outputs. Should I run more than 1 arduino? Should I be hardwiring more than arduino-program implementing things?

Hypothetical possibilites if there's enough pins/memory to implement:
-shot-by-shot fps monitoring
-clock/walkie-talkie function w/ bluetooth headset
-motor heat/wear monitoring

Edited by RedFear, 14 October 2016 - 05:18 PM.

[KaneTheMediocre]

Are there things you think I should change, or add to make the overall modding go smoother? I'm using an arduino uno R3, but am not sure if it can handle all these inputs/outputs. Should I run more than 1 arduino? Should I be hardwiring more than arduino-program implementing things?

Hypothetical possibilites if there's enough pins/memory to implement:
-shot-by-shot fps monitoring
-clock/walkie-talkie function w/ bluetooth headset
-motor heat/wear monitoring

You probably won't need more than one arduino for pins. If you do need more pins, try the arduino mega.

http://arduino.cc/en...rduinoBoardMega

The radio and clock do not need to interact with the arduino. I don't think that the Arduino even knows what time it is when it turns on.

Shot by shot FPS measurement would be cool, but I don't see an easy way to do it without a lot of crap in front of the dart exit. If you start the measurement before the dart leaves any "barrel" that you have, your measurement won't properly account for darts dragging on their way out as they often do with flywheel blasters.

Perhaps a more useful measurement (and adjustment factor) would be motor RPM. If you wanted to improve accuracy a bit, you could monitor both motors and make sure they spin at exactly the same speed (or almost exactly the same speed if you are compensating for something else being out of whack). You mentioned two power levels, but I think the scope of this project justifies a continuous spectrum.

[RedFear]

by two power levels I meant that regulating the max voltage that the two stages get so that the rear is getting a lower voltage than the front to prevent dart-melting. as for variable voltage controlling... maybe the arduino can do it by changing the duty cycle of the signals sent to the transistors.
and thanks for giving me the assurance that the uno has enough pins. and as for fps shot by shot, I was thinking a pair of photo-gates at the base of the 2nd barrel and detecting the rising or falling edge of their signals for speed calculations.
as for wifi... it was just an idea.

Just as an idea.... what about a comparator on the arduino to sense when the motor is giving back-emf, so that when the accel trigger is released, it switches a relay to disconnect power and flip the polarity of the auxiliary capacitors, so that the motor acts as a generator to charge them up (regenerative braking if you will), and then as the motor nears zero back-emf, it switches the polarity again and reconnects to the power source? The left over energy from the motor is used to help charge the surge capacitors?

Edited by RedFear, 02 January 2015 - 12:59 PM.

[jwasko]

-regulate higher voltage to 2 power levels for the front/rear flywheel sets (11.1v in front and 7.2v in rear) to eliminate one of the batteries

If this voltage difference is going to be set, you may not need to use the arduino...try using some diodes between the battery pack and the rear motors to drop the voltage. This is what people do to slow down the rapidstrike's pusher motor on a 3S/11.1V battery, so I wonder if it would work here.

Edited by jwasko, 02 January 2015 - 08:34 PM.

[RedFear]

If this voltage difference is going to be set, you may not need to use the arduino...try using some diodes between the battery pack and the rear motors to drop the voltage. This is what people do to slow down the rapidstrike's pusher motor on a 3S/11.1V battery, so I wonder if it would work here.

Yeah I think i'm just going to go with using the arduino and keeping the voltage at both the same. just varying the duty cycle to achieve the same effect. and possibly get a potentiometer for the arduino to read from to adjust both front/rear duty cycles in unison.

Edited by RedFear, 04 January 2015 - 03:59 AM.

[Technician Gimmick]

Hello RedFear,

Major undertaking here, but fun fun and more fun! I'll give you all the advice I can from my experiences working with nerf and arduino stuff.

-to use 20 amp transistors to drive the front/rear set of flywheels (to take out electrical arc wear on switch contacts)

I have used IRF530 MOSFETs (which are basically transistors) to control the motors before. They are good for giving you a variable voltage based on the frequency (duty cycle) signal coming from the arduino and they are rated for 22A. Plus, the price is right. To learn more about them check out this video. It was very insightful to me when I started.

-sense if magazine is empty,

You have many options for sensing if ammo is available to be fired. I'd go with Ir Sensors. They're cheap and there are plenty of tutorials out there on how to use them with Arduinos.

and type of magazine inserted (different brush contacts on different magazine types)

Now for this one, I thought long and hard about, and decided on magnetic reed switches. These are what I'm currently using the the TR-27, and they have been, and continue to be very reliable. Plus, the mod for the mag is super simple. All you need do is glue magnets to the mags in specific places to identify them to the arduino. I highly recommend this method.

and display ammo counter/ammo empty on oled display

Adding an OLED is very hard. If you've been following my post on the TR-27, you know I've been in the process for a while. I've concluded it can be done. However not with the Atmega328. See arduino's board comparisons to know which boards have which micro controllers on them. The Atmega328 only has 32kb of flash memory, and I used nearly all of it to control the OLED I chose for my project. This of course left me with no room for the programming needed to control the blaster. Even if I trimmed down my code, bluetooth or wifi would be completely out of the question. This is why I've moved to using the Atmega2560 micro controller. It has 256kb of flash. Problem is that there aren't many physically small boards out there using the Atmega2560. (Which is why I'm working on designing my own board.)

-monitor and display battery voltage and safety cutoff when low voltage with BEC and 7-segment displays

There are some really simpleLiPo voltage monitors out there that have an audible alarm when the battery gets low. It would be a really easy addon without adding all the headache of designing everything you'd need for the arduino to do it.

-regulate higher voltage to 2 power levels for the front/rear flywheel sets (11.1v in front and 7.2v in rear) to eliminate one of the batteries

Rather than have 2 power levels, it would be simpler to just set a lower duty cycle on the rear flywheels to lower the voltage to what you need.

Side note warning

You can get 7.2v out of an 11.1v lipo battery by hooking up to one of the other pins. The danger and trouble to that is you end up draining 2 of the cells much faster than the 3rd cell. This will shorten your run time, because as the cells drain, the first two cells will drain faster than the 3rd, because it is only running the front flywheels, but the others are running all of the flywheels.

-servo-actuated fire selection

That should be pretty easy. Arduinos will control servos pretty easily.

energy from the motor is used to help charge the surge capacitors?

Personally I don't think this is necessary. I've thought about it, but the only benefit would be if 11.1v isn't enough to push your motor up to speed quick enough. And this will all depend on the specs for your motor. You will really need to find the manufacture's specifications for your motor in order to see how much current (AMPS) you need to supply. And to get an idea about what will destroy your motor.

-display startup/ready/status animations and warning monitoring on oled display (oled placed right above 7 segment displays as telemetry/ ammo counter)

This is pretty much just a question of programming. I've always thought it would be cool to know the total number of darts that have been through the blaster.

-use micro-sd card for oled bitmaps/animations/necessary stored data

This one is up to you. I want to get into SD and micro SD cards working with arduino, but I haven't started this yet. If you go with the Atmega2560, you shouldn't need SD cards for storage.

"-have usb and charging hookup flush mounted to the blaster (no removing batteries, just plug blaster into to charge or program)" (apparently I've used up all the quote blocks I nerfhaven will let me use.)

This one is not advised. Not via USB anyway. First, most USB ports only supply 200ma at 5V which would be an incredibly slow charge for an 11.1v Lipo. But more importantly is that charging a Lipo battery is very delicate. I've heard from others that you should just rely on an external charger. If you could mount a good single throw, triple pole switch somewhere to disconnect the battery from any circuitry that might interfere with charging, it could work nicely.


Good luck and again, feel free to throw me any questions you may have as you go.

God Bless! - Gimmick

[MAV13]

Adding an LCD isn't particularly difficult IMO, there's no good place to mount it really but the coding itself isn't that difficult. Although I can see how the memory issue could come into play if you're doing ambitious stuff like Bluetooth and wi-fi. Bonus, if you do put in the LCD you could integrate the voltage monitor you wanted into the display. All you would need is a simple voltage divider. My code has little bitmaps like a cell phone for each battery level. If you want you can PM me for a rough draft of my code. Good luck!

[RedFear]

Hello RedFear,

Major undertaking here, but fun fun and more fun! I'll give you all the advice I can from my experiences working with nerf and arduino stuff.


I have used IRF530 MOSFETs (which are basically transistors) to control the motors before. They are good for giving you a variable voltage based on the frequency (duty cycle) signal coming from the arduino and they are rated for 22A. Plus, the price is right. To learn more about them check out this video. It was very insightful to me when I started.


You have many options for sensing if ammo is available to be fired. I'd go with Ir Sensors. They're cheap and there are plenty of tutorials out there on how to use them with Arduinos.


Now for this one, I thought long and hard about, and decided on magnetic reed switches. These are what I'm currently using the the TR-27, and they have been, and continue to be very reliable. Plus, the mod for the mag is super simple. All you need do is glue magnets to the mags in specific places to identify them to the arduino. I highly recommend this method.


Adding an OLED is very hard. If you've been following my post on the TR-27, you know I've been in the process for a while. I've concluded it can be done. However not with the Atmega328. See arduino's board comparisons to know which boards have which micro controllers on them. The Atmega328 only has 32kb of flash memory, and I used nearly all of it to control the OLED I chose for my project. This of course left me with no room for the programming needed to control the blaster. Even if I trimmed down my code, bluetooth or wifi would be completely out of the question. This is why I've moved to using the Atmega2560 micro controller. It has 256kb of flash. Problem is that there aren't many physically small boards out there using the Atmega2560. (Which is why I'm working on designing my own board.)


There are some really simpleLiPo voltage monitors out there that have an audible alarm when the battery gets low. It would be a really easy addon without adding all the headache of designing everything you'd need for the arduino to do it.


Rather than have 2 power levels, it would be simpler to just set a lower duty cycle on the rear flywheels to lower the voltage to what you need.

Side note warning

You can get 7.2v out of an 11.1v lipo battery by hooking up to one of the other pins. The danger and trouble to that is you end up draining 2 of the cells much faster than the 3rd cell. This will shorten your run time, because as the cells drain, the first two cells will drain faster than the 3rd, because it is only running the front flywheels, but the others are running all of the flywheels.

That should be pretty easy. Arduinos will control servos pretty easily.


Personally I don't think this is necessary. I've thought about it, but the only benefit would be if 11.1v isn't enough to push your motor up to speed quick enough. And this will all depend on the specs for your motor. You will really need to find the manufacture's specifications for your motor in order to see how much current (AMPS) you need to supply. And to get an idea about what will destroy your motor.


This is pretty much just a question of programming. I've always thought it would be cool to know the total number of darts that have been through the blaster.


This one is up to you. I want to get into SD and micro SD cards working with arduino, but I haven't started this yet. If you go with the Atmega2560, you shouldn't need SD cards for storage.

"-have usb and charging hookup flush mounted to the blaster (no removing batteries, just plug blaster into to charge or program)" (apparently I've used up all the quote blocks I nerfhaven will let me use.)

This one is not advised. Not via USB anyway. First, most USB ports only supply 200ma at 5V which would be an incredibly slow charge for an 11.1v Lipo. But more importantly is that charging a Lipo battery is very delicate. I've heard from others that you should just rely on an external charger. If you could mount a good single throw, triple pole switch somewhere to disconnect the battery from any circuitry that might interfere with charging, it could work nicely.


Good luck and again, feel free to throw me any questions you may have as you go.

God Bless! - Gimmick

in regards to this message, thank you very much for your insight. as for charging the battery, i'm actually going to have the balance and battery charge plugs hanging out inside the battery tray area so that I can open that up and charge from there. I have an external charger that's pretty decent. and as for the USB, that's not for charging. the port is going to be for addidional programming after physical installation.

and if i am to use an atmega2560, which arduino-compatible boards have that chip on them?

[MAV13]

Arduino Megas have something like 4x more pins so they will always be pretty big unless you design and print a custom board. You'd definitely need an external housing if you were looking to put one in a Rayven. Unless you are planning to do some extra Bluetooth or wifi stuff or something like that, you won't need the extra memory. For example, mine has code for fire control, a mission timer, voltage monitoring, dart counting, jam detection, a big but super cool library for extra features on push button switches, and the code for the LCD with all the associated libraries and I still have 12K of the 32K left.

[RedFear]

IT FITS!

gonna have a USB-b plug on the back with some extra padding to cover the hard areas on the stock.

[MAV13]

Where are you going to put a servo with that there? I figured it could fit in that space but you'd still need to stuff a servo somewhere.

[RedFear]

Where are you going to put a servo with that there? I figured it could fit in that space but you'd still need to stuff a servo somewhere.

Gonna stuff the servo in the spot where the trigger crank lever rotates from. Cutting a hole in the shell and then making a mounting box to drop it into. it should retain space on the inside for my dual h-bridge controller, wiring, micro-sd card chip, and lipo battery.

First post updated. all future updates will be edited into the first post.

Edited by RedFear, 25 January 2015 - 05:25 AM.

[RedFear]

My apologies for the double post. I would however like to make the progress on this blaster known. Updates in first post.

Finally finished writing the rough arduino code, though not yet tested. click spoiler for code.

Spoiler

/*StingRay N.R.M.S by Bree Peng*/
#include <SD.h>
#include <SPI.h>
#include <Wire.h>
#include <Adafruit_GFX.h>
#include <Adafruit_SSD1306.h>
#define OLED_RESET 4

Adafruit_SSD1306 display(OLED_RESET);

const unsigned char PROGMEM Startup [] = {
0x00, 0x00, 0x10, 0x3C, 0x3E, 0x3F, 0x33, 0x33, 0x33, 0x33, 0xF3, 0xF3, 0xF3, 0x03, 0x03, 0x81,
0xF0, 0xFE, 0x7F, 0x6F, 0x63, 0x63, 0x63, 0xE3, 0xE3, 0xF3, 0x3F, 0x3F, 0x0E, 0x00, 0x30, 0x30,
0x30, 0x30, 0x30, 0x30, 0x30, 0x30, 0x30, 0x30, 0x30, 0x00, 0x00, 0x00, 0xFE, 0xFF, 0xFF, 0xFF,
0xE0, 0xF0, 0x7C, 0xFE, 0xFF, 0xFF, 0xFF, 0xC0, 0xF0, 0xF8, 0x3E, 0x1F, 0x07, 0x81, 0xF0, 0xFE,
0x7F, 0x3F, 0x33, 0x33, 0x33, 0x33, 0x33, 0x33, 0x33, 0x03, 0x80, 0xF0, 0xFE, 0x7F, 0x6F, 0x63,
0x63, 0x63, 0xE3, 0xE3, 0xF3, 0x3F, 0x3F, 0x0E, 0x80, 0xF0, 0xFE, 0x7F, 0x3F, 0x31, 0x30, 0x30,
0xF0, 0xFC, 0xFE, 0x0F, 0x07, 0x01, 0x10, 0x3C, 0x3E, 0x3F, 0x33, 0x33, 0x33, 0x33, 0xF3, 0xF3,
0xF3, 0x03, 0x03, 0x01, 0x04, 0x06, 0x06, 0xC6, 0xE6, 0x26, 0x26, 0x26, 0x26, 0x26, 0x07, 0x03,
0x21, 0x20, 0xE2, 0xE3, 0x23, 0x23, 0x20, 0x00, 0xE0, 0xE0, 0x00, 0x03, 0xE3, 0xE3, 0xE0, 0x80,
0x00, 0xE0, 0xE0, 0x00, 0x00, 0xC0, 0xE0, 0x20, 0x20, 0x20, 0x20, 0x20, 0x00, 0x00, 0xE0, 0xE0,
0x23, 0x23, 0x23, 0xE3, 0xE3, 0x01, 0x00, 0x83, 0xC3, 0xE3, 0xE3, 0xE3, 0xE1, 0x00, 0x00, 0x00,
0xC4, 0xE7, 0xE7, 0x07, 0x86, 0xE6, 0xE6, 0x26, 0x06, 0x06, 0x06, 0x00, 0x00, 0x02, 0x03, 0x03,
0x03, 0x00, 0xE0, 0xE0, 0xE0, 0x80, 0x03, 0xE3, 0xE3, 0x00, 0x00, 0xE2, 0xE3, 0x23, 0x23, 0x20,
0xE0, 0xE0, 0x00, 0x00, 0xE3, 0xE3, 0xE3, 0xE0, 0x04, 0x86, 0xE6, 0xE6, 0xE6, 0xE6, 0x06, 0x06,
0xC6, 0xE6, 0x27, 0x23, 0x21, 0x20, 0x20, 0x00, 0x00, 0x08, 0x08, 0x09, 0x09, 0x09, 0x0D, 0x0F,
0x03, 0x00, 0x00, 0x00, 0x08, 0x0F, 0x07, 0x00, 0x00, 0x00, 0x08, 0x0F, 0x07, 0x00, 0x08, 0x0F,
0x07, 0x01, 0x07, 0x0F, 0x0F, 0x07, 0x00, 0x00, 0x0F, 0x0F, 0x08, 0x09, 0x09, 0x0F, 0x07, 0x00,
0x08, 0x0F, 0x07, 0xF1, 0x01, 0x0F, 0x0F, 0xF1, 0x00, 0x0C, 0x0E, 0xF7, 0x03, 0x02, 0x0F, 0xFF,
0x0F, 0x00,
};
const unsigned char PROGMEM Sys [] = {
0x27, 0x25, 0x25, 0x25, 0x25, 0x19, 0x00, 0x00, 0x03, 0x04, 0x3C, 0x04, 0x03, 0x00, 0x27, 0x25,
0x25, 0x25, 0x25, 0x19, 0x00, 0x00, 0x01, 0x01, 0x3F, 0x01, 0x01, 0x00, 0x3F, 0x25, 0x25, 0x25,
0x25, 0x3F, 0x01, 0x1F, 0x38, 0x38, 0x1F, 0x01, 0x3F, 0x00, 0x04, 0x04, 0x04, 0x04, 0x04, 0x04,
0x04, 0x04, 0x04, 0x04, 0x04, 0x04, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00,
};
const unsigned char PROGMEM SysInit [] = {
0x27, 0x25, 0x25, 0x25, 0x25, 0x19, 0x00, 0x00, 0x03, 0x04, 0x3C, 0x04, 0x03, 0x00, 0x27, 0x25,
0x25, 0x25, 0x25, 0x19, 0x00, 0x00, 0x01, 0x01, 0x3F, 0x01, 0x01, 0x00, 0x3F, 0x25, 0x25, 0x25,
0x25, 0x3F, 0x01, 0x1F, 0x38, 0x38, 0x1F, 0x01, 0x3F, 0x00, 0x04, 0x04, 0x04, 0x04, 0x04, 0x04,
0x04, 0x04, 0x04, 0x04, 0x04, 0x04, 0x00, 0x3F, 0x00, 0x3F, 0x02, 0x04, 0x08, 0x10, 0x3F, 0x00,
0x00, 0x3F, 0x00, 0x00, 0x01, 0x01, 0x3F, 0x01, 0x01, 0x00, 0x3F, 0x00, 0x20, 0x3C, 0x0F, 0x09,
0x0F, 0x38,
};
const unsigned char PROGMEM Count [] = {
0x00, 0x40, 0x78, 0x3F, 0x0F, 0x09, 0x79, 0x79, 0x0F, 0x07, 0x40, 0x78, 0x7E, 0x47, 0x41, 0x61,
0x79, 0x1F, 0x07, 0x00, 0x78, 0x7F, 0x47, 0x40, 0x60, 0x78, 0x1F, 0x07, 0x40, 0x78, 0x3F, 0x0F,
0x3F, 0x7C, 0x78, 0x3F, 0x07, 0x40, 0x78, 0x7F, 0x47, 0x41, 0x61, 0x79, 0x1F, 0x07, 0x40, 0x40,
0x4E, 0x4F, 0x49, 0x69, 0x79, 0x19, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x40, 0x78, 0x3F, 0x0F,
0x09, 0x09, 0x09, 0x09, 0x01, 0x40, 0x78, 0x3F, 0x07, 0x40, 0x78, 0x3F, 0x0F, 0x09, 0x79, 0x79,
0x0F, 0x07, 0x40, 0x78, 0x7F, 0x4F, 0x49, 0x49, 0x49, 0x09, 0x01, 0x40, 0x78,
};
const unsigned char PROGMEM Zero [] = {
0x00, 0x00, 0xE0, 0xF0, 0xF8, 0xFC, 0xFC, 0xFC, 0xFE, 0xFE, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E,
0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0xFE, 0xFC, 0xFC, 0xFC, 0xF8,
0xF0, 0xE0, 0x00, 0x00, 0x00, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x01, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01,
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x00, 0x00, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x00, 0x00, 0x7F, 0xFF, 0xFF,
0xFF, 0xFF, 0xFF, 0xFF, 0xC0, 0x80, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xC0, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x7F, 0x00,
0x00, 0x00, 0x03, 0x07, 0x0F, 0x1F, 0x1F, 0x1F, 0x3F, 0x3F, 0x3F, 0x3F, 0x3F, 0x3F, 0x3F, 0x3F,
0x3F, 0x3F, 0x3F, 0x3F, 0x3F, 0x3F, 0x3F, 0x3F, 0x3F, 0x3F, 0x3F, 0x3F, 0x1F, 0x1F, 0x1F,
};
const unsigned char PROGMEM One [] = {
0x00, 0x00, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0xFE, 0xFC, 0xFC, 0xFC, 0xF8,
0xF0, 0xE0, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01,
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x3F, 0x3F, 0x3F, 0x3F,
0x3F, 0x3F, 0x3F, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
};
const unsigned char PROGMEM Two [] = {
0x00, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E,
0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0xFE, 0xFC, 0xFC, 0xFC, 0xF8,
0xF0, 0xC0, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x81,
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x00, 0x00, 0x00, 0xE0, 0xF0, 0xF8, 0xFC, 0xFC, 0xFE,
0xFE, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E,
0x7E, 0x7E, 0x7E, 0x7F, 0x3F, 0x3F, 0x3F, 0x1F, 0x0F, 0x03, 0x00, 0x00, 0x00, 0xFF, 0xFF, 0xFF,
0xFF, 0xFF, 0xFF, 0xFF, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x3F, 0x3F, 0x3F, 0x3F, 0x3F, 0x3F, 0x3F, 0x3F, 0x3F, 0x3F, 0x3F, 0x3F, 0x3F, 0x3F, 0x3F,
0x3F, 0x3F, 0x3F, 0x3F, 0x3F, 0x3F, 0x3F, 0x3F, 0x3F, 0x3F, 0x3F, 0x3F, 0x3F, 0x3F, 0x3F,
};
const unsigned char PROGMEM Three [] = {
0x00, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E,
0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0xFE, 0xFC, 0xFC, 0xFC,
0xF8, 0xF0, 0xE0, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x81, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x00, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E,
0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E,
0x7E, 0x7E, 0x7E, 0x7E, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xF7, 0xE3, 0x80, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x80, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x7F,
0x00, 0x3F, 0x3F, 0x3F, 0x3F, 0x3F, 0x3F, 0x3F, 0x3F, 0x3F, 0x3F, 0x3F, 0x3F, 0x3F, 0x3F, 0x3F,
0x3F, 0x3F, 0x3F, 0x3F, 0x3F, 0x3F, 0x3F, 0x3F, 0x3F, 0x3F, 0x3F, 0x3F, 0x3F, 0x1F, 0x1F,
};
const unsigned char PROGMEM Four [] = {
0x00, 0xFE, 0xFE, 0xFE, 0xFE, 0xFE, 0xFE, 0xFE, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xFE, 0xFE, 0xFE, 0xFE,
0xFE, 0xFE, 0xFE, 0x00, 0x00, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x00, 0x00, 0x01, 0x0F, 0x1F, 0x3F, 0x7F, 0x7F, 0x7F,
0xFF, 0xFC, 0xFC, 0xFC, 0xFC, 0xFC, 0xFC, 0xFC, 0xFC, 0xFC, 0xFC, 0xFC, 0xFC, 0xFC, 0xFC, 0xFC,
0xFC, 0xFC, 0xFC, 0xFC, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x3F, 0x3F, 0x3F,
};
const unsigned char PROGMEM Five [] = {
0x00, 0xFE, 0xFE, 0xFE, 0xFE, 0xFE, 0xFE, 0xFE, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E,
0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E,
0x7E, 0x7E, 0x7E, 0x00, 0x00, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x7F, 0x7F, 0x7F, 0x7F, 0x7F, 0x7F, 0x7F,
0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E,
0x7E, 0x7E, 0x7E, 0xFE, 0xFE, 0xFC, 0xFC, 0xF8, 0xF0, 0xE0, 0x80, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x80, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x00,
0x00, 0x3F, 0x3F, 0x3F, 0x3F, 0x3F, 0x3F, 0x3F, 0x3F, 0x3F, 0x3F, 0x3F, 0x3F, 0x3F, 0x3F, 0x3F,
0x3F, 0x3F, 0x3F, 0x3F, 0x3F, 0x3F, 0x3F, 0x3F, 0x3F, 0x3F, 0x3F, 0x3F, 0x1F, 0x1F, 0x1F,
};
const unsigned char PROGMEM Six [] = {
0x00, 0x00, 0xE0, 0xF0, 0xF8, 0xFC, 0xFC, 0xFC, 0xFE, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E,
0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E,
0x7E, 0x7E, 0x7E, 0x00, 0x00, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x01, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E,
0x7E, 0x7E, 0x7E, 0xFE, 0xFE, 0xFC, 0xFC, 0xF8, 0xF0, 0xE0, 0x80, 0x00, 0x00, 0x7F, 0xFF, 0xFF,
0xFF, 0xFF, 0xFF, 0xFF, 0x80, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x80, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x00,
0x00, 0x00, 0x03, 0x07, 0x0F, 0x1F, 0x1F, 0x1F, 0x3F, 0x3F, 0x3F, 0x3F, 0x3F, 0x3F, 0x3F, 0x3F,
0x3F, 0x3F, 0x3F, 0x3F, 0x3F, 0x3F, 0x3F, 0x3F, 0x3F, 0x3F, 0x3F, 0x3F, 0x1F, 0x1F, 0x1F,
};
const unsigned char PROGMEM Seven [] = {
0x00, 0x00, 0xC0, 0xF0, 0xF8, 0xFC, 0xFC, 0xFC, 0xFE, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E,
0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0xFE, 0xFE, 0xFC, 0xFC, 0xFC, 0xF8,
0xF0, 0xE0, 0x00, 0x00, 0x00, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x01, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01,
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x00, 0x00, 0x03, 0x03, 0x03, 0x03, 0x03, 0x03, 0x03,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x3F, 0x3F, 0x3F,
};
const unsigned char PROGMEM Eight [] = {
0x00, 0x00, 0xE0, 0xF0, 0xF8, 0xFC, 0xFC, 0xFC, 0xFE, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E,
0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0xFE, 0xFC, 0xFC, 0xFC, 0xF8,
0xF0, 0xE0, 0x00, 0x00, 0x00, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x81, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x81,
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x00, 0x00, 0x80, 0xE3, 0xF7, 0xFF, 0xFF, 0xFF, 0xFF,
0xFF, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E,
0x7E, 0x7E, 0x7E, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xF7, 0xE3, 0x80, 0x00, 0x00, 0x7F, 0xFF, 0xFF,
0xFF, 0xFF, 0xFF, 0xFF, 0x80, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x80, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x7F, 0x00,
0x00, 0x00, 0x03, 0x07, 0x0F, 0x1F, 0x1F, 0x1F, 0x3F, 0x3F, 0x3F, 0x3F, 0x3F, 0x3F, 0x3F, 0x3F,
0x3F, 0x3F, 0x3F, 0x3F, 0x3F, 0x3F, 0x3F, 0x3F, 0x3F, 0x3F, 0x3F, 0x3F, 0x1F, 0x1F, 0x1F,
};
const unsigned char PROGMEM Nine [] = {
0x00, 0x00, 0xC0, 0xF0, 0xF8, 0xFC, 0xFC, 0xFC, 0xFE, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E,
0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0xFE, 0xFC, 0xFC, 0xFC, 0xF8,
0xF0, 0xE0, 0x00, 0x00, 0x00, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x81, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01,
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x00, 0x00, 0x00, 0x03, 0x0F, 0x1F, 0x3F, 0x3F, 0x3F,
0x7F, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E,
0x7E, 0x7E, 0x7E, 0x7E, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x80, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x7F, 0x00,
0x00, 0x3F, 0x3F, 0x3F, 0x3F, 0x3F, 0x3F, 0x3F, 0x3F, 0x3F, 0x3F, 0x3F, 0x3F, 0x3F, 0x3F, 0x3F,
0x3F, 0x3F, 0x3F, 0x3F, 0x3F, 0x3F, 0x3F, 0x3F, 0x3F, 0x3F, 0x3F, 0x3F, 0x1F, 0x1F, 0x1F,
};
const unsigned char PROGMEM ChangeMag [] = {
0x7F, 0x41, 0x3B, 0x00, 0x7F, 0x02, 0x02, 0x7E, 0x00, 0x76, 0x4A, 0x4A, 0x7E, 0x00, 0x7E, 0x02,
0x02, 0x7E, 0x00, 0xDE, 0x92, 0x92, 0xFE, 0x00, 0x3E, 0x4A, 0x4A, 0x6C, 0x00, 0x00, 0x00, 0x7E,
0x02, 0x7E, 0x02, 0x7E, 0x00, 0x76, 0x4A, 0x4A, 0x7E, 0x00, 0xDE, 0x92, 0x92, 0xFE, 0x00, 0x5F
};
const unsigned char PROGMEM Blank [] = {
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00
};

#if (SSD1306_LCDHEIGHT != 64)
#error("Height incorrect, please use SSD1306 128x64!");
#endif
#include <Servo.h>

Servo fire; // create servo object to control a servo
// twelve servo objects can be created on most boards

int pos = 137; // variable to store the servo position
int acc; //acceleration trigger signal
int trig; //fire trigger signal
int opts; //dart sensor signal
int front=255; //front motor duty cycle
int rear=191; //rear motor duty cycle
int rounds=0; //round counter 0's 10's 100's
int roundstens=0;
int roundshundreds=0;
int roundstotal=0;//total rounds
int semi=0; //triggerpull limiter
//For semiautomatic3-round burst, leave the above line alone, for auto, comment it out.
int flash; //flash animation counter


void setup()
{
Serial.begin(9600);
display.begin(SSD1306_SWITCHCAPVCC, 0x3C); // initialize with the I2C address 0x3C (ebay OLED)
display.drawBitmap(6, 15, Startup, 116, 20, WHITE);
fire.attach(9); // attaches the servo on pin 9 to the servo object
fire.write(pos);
delay(2000); //delay to watch initiating
pinMode(8, INPUT_PULLUP);
pinMode(7, INPUT_PULLUP);
pinMode(4, INPUT);
for(flash=0; flash <= 4; flash += 1){
display.drawBitmap(10, 52, Sys, 110, 6, WHITE);
display.drawBitmap(10, 52, SysInit, 110, 6, WHITE);
delay(1);
}
delay(250);
display.clearDisplay();
display.drawBitmap(8, 4, Count, 107, 7, WHITE);
display.drawBitmap(6, 13, Zero, 36, 39, WHITE);
display.drawBitmap(46, 13, Zero, 36, 39, WHITE);
display.drawBitmap(86, 13, Zero, 36, 39, WHITE);
}


void loop(){
opts=digitalRead(4);
acc=digitalRead(7);
trig=digitalRead(8);
if(acc == LOW){
analogWrite(5, front);
analogWrite(6, rear);
if(trig == LOW){
if(semi == 0){ //for automatic comment this line
//if(semi <=2){ //For semiautomatic 3-round burst uncomment this line
if(opts == LOW){ //if a dart is present
fire.write(47); // tell servo to fully extend
roundstotal = roundstotal+1;
rounds = rounds + 1; //counting algorithm for displaying
if(rounds >= 10){
roundstens = roundstens + 1;
rounds = rounds - 10;
}
if(roundstens >= 10){
roundshundreds = roundshundreds + 1;
roundstens = roundstens - 10;
}
if(roundshundreds >= 10){
rounds = 0;
roundstens = 0;
roundshundreds = 0;
}
//break for one's units place
if(rounds == 0){
display.drawBitmap(86, 13, Zero, 36, 39, WHITE);
}else if(rounds == 1){
display.drawBitmap(86, 13, One, 36, 39, WHITE);
}else if(rounds == 2){
display.drawBitmap(86, 13, Two, 36, 39, WHITE);
}else if(rounds == 3){
display.drawBitmap(86, 13, Three, 36, 39, WHITE);
}else if(rounds == 4){
display.drawBitmap(86, 13, Four, 36, 39, WHITE);
}else if(rounds == 5){
display.drawBitmap(86, 13, Five, 36, 39, WHITE);
}else if(rounds == 6){
display.drawBitmap(86, 13, Six, 36, 39, WHITE);
}else if(rounds == 7){
display.drawBitmap(86, 13, Seven, 36, 39, WHITE);
}else if(rounds == 8){
display.drawBitmap(86, 13, Eight, 36, 39, WHITE);
}else{
display.drawBitmap(86, 13, Nine, 36, 39, WHITE);
}
//break for tens units place
if(roundstens == 0){
display.drawBitmap(46, 13, Zero, 36, 39, WHITE);
}else if(roundstens == 1){
display.drawBitmap(46, 13, One, 36, 39, WHITE);
}else if(roundstens == 2){
display.drawBitmap(46, 13, Two, 36, 39, WHITE);
}else if(roundstens == 3){
display.drawBitmap(46, 13, Three, 36, 39, WHITE);
}else if(roundstens == 4){
display.drawBitmap(46, 13, Four, 36, 39, WHITE);
}else if(roundstens == 5){
display.drawBitmap(46, 13, Five, 36, 39, WHITE);
}else if(roundstens == 6){
display.drawBitmap(46, 13, Six, 36, 39, WHITE);
}else if(roundstens == 7){
display.drawBitmap(46, 13, Seven, 36, 39, WHITE);
}else if(roundstens == 8){
display.drawBitmap(46, 13, Eight, 36, 39, WHITE);
}else{
display.drawBitmap(46, 13, Nine, 36, 39, WHITE);
}
//break for hundreds place
if(roundshundreds == 0){
display.drawBitmap(6, 13, Zero, 36, 39, WHITE);
}else if(roundshundreds == 1){
display.drawBitmap(6, 13, One, 36, 39, WHITE);
}else if(roundshundreds == 2){
display.drawBitmap(6, 13, Two, 36, 39, WHITE);
}else if(roundshundreds == 3){
display.drawBitmap(6, 13, Three, 36, 39, WHITE);
}else if(roundshundreds == 4){
display.drawBitmap(6, 13, Four, 36, 39, WHITE);
}else if(roundshundreds == 5){
display.drawBitmap(6, 13, Five, 36, 39, WHITE);
}else if(roundshundreds == 6){
display.drawBitmap(6, 13, Six, 36, 39, WHITE);
}else if(roundshundreds == 7){
display.drawBitmap(6, 13, Seven, 36, 39, WHITE);
}else if(roundshundreds == 8){
display.drawBitmap(6, 13, Eight, 36, 39, WHITE);
}else{
display.drawBitmap(6, 13, Nine, 36, 39, WHITE);
}
semi = semi+1;
delay(30); // waits 20ms for the servo to reach the position
fire.write(137); // tell servo to retract
delay(30); // waits 20ms for the servo to reach the position
if(roundstotal > 0){
if(roundstotal%12 == 0){
for(flash=0; flash <= 30; flash += 1){
display.drawBitmap(79, 55, ChangeMag, 48, 8, WHITE);
display.drawBitmap(79, 55, Blank, 48, 8, WHITE);
delay(5);
}
}
}
}
}
else{
delay(5); //delay 5ms
}
}
else if(trig == HIGH){
semi = 0;
}
else{
delay(5); //delay 5ms
}
}
else{
digitalWrite(5,LOW);
digitalWrite(6,LOW);
}
}

Edited by RedFear, 27 January 2015 - 02:10 PM.

[RedFear]

It's been for-evahhh

But here's where it is now. I've taken out a lot of the functionality from before, like the optical sensors and the  oled display and ammo counting, but i'll add those back at some point in the future. just not now. Most of what i've done is making it functional first. After that, housing covers for the exposed parts. I still need to make some vents on the top shroud area and install a tiny PC fan there to cool the motor mosfets, and get a OLED shroud together for the OLED display that will be un-used for the time being.

[DjOnslaught]

If your keeping the lipo in when charging you need a way to vent the excess heat that will be generated by the charging process. I noticed your charging connectors are in the battery tray, maybe venting the heat threw there somehow.

[RedFear]

The amount of heat from this lipo pack is fairly low. I have been using low-amperage balance charging with an electronic smart charger, which means the pack barely gets warm while charging.
I am much more concerned about Mosfet heat from the motor drivers.

High charge heat occurs when you fast charge lipo packs.

 

Arduino Code available here:

https://drive.google...OUU?usp=sharing

Edited by RedFear, 26 September 2016 - 07:04 AM.

[RedFear]

Apologies in advance for the double post.

 

I have an update to this project that is fairly major.

after noise issues and flywheel burning/grip issues, I've decided to swap over to worker wheels and a brushless setup. feed issues as well meant that I settled on a telescoping brass dart guide that will keep the two FWC's aligned properly. with all the trimming i have had to do on the FWC's, a few spacers have let me slightly cant the flywheels in both cages. The battery voltage has come down to 7.2 instead of the 3s that was installed initially due to the brushless motors' kv ratings. This reduces voltage regulation circuits and makes the overall circuit much more compact.

 

List of things I must finish:
- clearance boxes in the other half of the shell to clear the motors

- ammo counting program (possibly will run on a separate arduino nano from the main arduino due to memory constraints)

 

Edited by RedFear, 11 October 2016 - 05:50 AM.

[udsaxman]

Dude! use out-runners for the first stage!  Dropping to 2s wont help anything to be honest, i run my outrunner demolisher at 4s.

[RedFear]

it's for the sake of running my esc's near 100% throttle, as that actually keeps heat down compared to low throttle.

additionally, the kv rating of the motors is what dfetermined my battery choice, and the smaller inrunner motors were chosen such that i would not have to replicate and match flywheel balances for modded flywheels fitted over outrunner motors. the motors themselves have plenty of torque and the extra torque of outrunners was not neccesary. in addition, there's the fabrication of a custom FWC pair that would hold outrunners which i did not wish to do.

 

each application is different. my 9000kv motors spin at around 32k rpm for the first stage and 64k rpm on their final stage. additionally the servo i use is a HV servo, and 7.2v is the highest voltage it is rated for to provide good torque and speed of actuation.

 

i designed and calculated around the overall match of the sysem's components servo, which led to the motor/ESC/servo/battery selections