Smart Floor Cleaner Robot Using Android

#define START_BMPWIDTH 60 //Width in pixels
#define START_BMPHEIGHT 64 //Height in pixels
#define START_BMPBYTEWIDTH 8 //Width in bytes
const unsigned char start_bmp[574] PROGMEM = {
};
// Here comes a compile-time operation to match the extruder symbols
// on the info screen to the set number of extruders in configuration.h
//
// When only one extruder is selected, the "1" on the symbol will not
// be displayed.
#if EXTRUDERS == 1
#define STATUS_SCREENWIDTH 115 //Width in pixels
#define STATUS_SCREENHEIGHT 19 //Height in pixels
#define STATUS_SCREENBYTEWIDTH 15 //Width in bytes
const unsigned char status_screen0_bmp[] PROGMEM = { //AVR-GCC, WinAVR
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x7F,0xFF,0xE0,
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x70,0x00,0xE0,
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x63,0x0C,0x60,
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x47,0x0E,0x20,
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x4F,0x0F,0x20,
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x5F,0x0F,0xA0,
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x5E,0x07,0xA0,
0x7F,0x80,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x41,0x04,0x00,0x40,0x60,0x20,
0xFF,0xC0,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x20,0x82,0x00,0x40,0xF0,0x20,
0xFF,0xC0,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x41,0x04,0x00,0x40,0x60,0x20,
0x7F,0x80,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x82,0x08,0x00,0x5E,0x07,0xA0,
0x7F,0x80,0x00,0x00,0x00,0x00,0x00,0x00,0x01,0x04,0x10,0x00,0x5F,0x0F,0xA0,
0xFF,0xC0,0x00,0x00,0x00,0x00,0x00,0x00,0x01,0x04,0x10,0x00,0x4F,0x0F,0x20,
0xFF,0xC0,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x82,0x08,0x00,0x47,0x0E,0x20,
0xFF,0xC0,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x41,0x04,0x00,0x63,0x0C,0x60,
0x3F,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x70,0x00,0xE0,
0x1E,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x01,0xFF,0xFF,0x80,0x7F,0xFF,0xE0,
0x0C,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x01,0xFF,0xFF,0x80,0x00,0x00,0x00
};
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x61,0xF8,0x60,
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x40,0x60,0x20,
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x58,0x01,0xA0,
0x7F,0x80,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x41,0x04,0x00,0x5C,0x63,0xA0,
0xFF,0xC0,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x20,0x82,0x00,0x5E,0xF7,0xA0,
0xFF,0xC0,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x20,0x82,0x00,0x5E,0xF7,0xA0,
0xFF,0xC0,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x41,0x04,0x00,0x5C,0x63,0xA0,
0x7F,0x80,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x82,0x08,0x00,0x58,0x01,0xA0,
0x7F,0x80,0x00,0x00,0x00,0x00,0x00,0x00,0x01,0x04,0x10,0x00,0x40,0x60,0x20,
0x3F,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x70,0x00,0xE0,
0x1E,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x01,0xFF,0xFF,0x80,0x7F,0xFF,0xE0,
};
#elif EXTRUDERS == 2
0x7F,0x80,0x00,0x3F,0xC0,0x00,0x00,0x00,0x00,0x41,0x04,0x00,0x40,0x60,0x20,
0xFB,0xC0,0x00,0x79,0xE0,0x00,0x00,0x00,0x00,0x20,0x82,0x00,0x40,0xF0,0x20,
0xF3,0xC0,0x00,0x76,0xE0,0x00,0x00,0x00,0x00,0x20,0x82,0x00,0x40,0xF0,0x20,
0xEB,0xC0,0x00,0x7E,0xE0,0x00,0x00,0x00,0x00,0x41,0x04,0x00,0x40,0x60,0x20,
0x7B,0x80,0x00,0x3D,0xC0,0x00,0x00,0x00,0x00,0x82,0x08,0x00,0x5E,0x07,0xA0,
0x7B,0x80,0x00,0x3B,0xC0,0x00,0x00,0x00,0x01,0x04,0x10,0x00,0x5F,0x0F,0xA0,
0xFB,0xC0,0x00,0x77,0xE0,0x00,0x00,0x00,0x01,0x04,0x10,0x00,0x4F,0x0F,0x20,
0xFB,0xC0,0x00,0x70,0xE0,0x00,0x00,0x00,0x00,0x82,0x08,0x00,0x47,0x0E,0x20,
0xFF,0xC0,0x00,0x7F,0xE0,0x00,0x00,0x00,0x00,0x41,0x04,0x00,0x63,0x0C,0x60,
0x3F,0x00,0x00,0x1F,0x80,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x70,0x00,0xE0,
0x1E,0x00,0x00,0x0F,0x00,0x00,0x00,0x00,0x01,0xFF,0xFF,0x80,0x7F,0xFF,0xE0,
};
0x7F,0x80,0x00,0x3F,0xC0,0x00,0x00,0x00,0x00,0x41,0x04,0x00,0x5C,0x63,0xA0,
0xFB,0xC0,0x00,0x79,0xE0,0x00,0x00,0x00,0x00,0x20,0x82,0x00,0x5E,0xF7,0xA0,
0xF3,0xC0,0x00,0x76,0xE0,0x00,0x00,0x00,0x00,0x20,0x82,0x00,0x5E,0xF7,0xA0,
0xEB,0xC0,0x00,0x7E,0xE0,0x00,0x00,0x00,0x00,0x41,0x04,0x00,0x5C,0x63,0xA0,
0x7B,0x80,0x00,0x3D,0xC0,0x00,0x00,0x00,0x00,0x82,0x08,0x00,0x58,0x01,0xA0,
0x7B,0x80,0x00,0x3B,0xC0,0x00,0x00,0x00,0x01,0x04,0x10,0x00,0x40,0x60,0x20,
0xFF,0xC0,0x00,0x7F,0xE0,0x00,0x00,0x00,0x00,0x41,0x04,0x00,0x61,0xF8,0x60,
0x3F,0x00,0x00,0x1F,0x80,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x70,0x00,0xE0,
0x1E,0x00,0x00,0x0F,0x00,0x00,0x00,0x00,0x01,0xFF,0xFF,0x80,0x7F,0xFF,0xE0,
};
#else
0x7F,0x80,0x00,0x3F,0xC0,0x00,0x3F,0xC0,0x00,0x41,0x04,0x00,0x40,0x60,0x20,
0xFB,0xC0,0x00,0x79,0xE0,0x00,0x79,0xE0,0x00,0x20,0x82,0x00,0x40,0xF0,0x20,
0xF3,0xC0,0x00,0x76,0xE0,0x00,0x76,0xE0,0x00,0x20,0x82,0x00,0x40,0xF0,0x20,
0xEB,0xC0,0x00,0x7E,0xE0,0x00,0x7E,0xE0,0x00,0x41,0x04,0x00,0x40,0x60,0x20,
0x7B,0x80,0x00,0x3D,0xC0,0x00,0x39,0xC0,0x00,0x82,0x08,0x00,0x5E,0x07,0xA0,
0x7B,0x80,0x00,0x3B,0xC0,0x00,0x3E,0xC0,0x01,0x04,0x10,0x00,0x5F,0x0F,0xA0,
0xFB,0xC0,0x00,0x77,0xE0,0x00,0x76,0xE0,0x01,0x04,0x10,0x00,0x4F,0x0F,0x20,
0xFB,0xC0,0x00,0x70,0xE0,0x00,0x79,0xE0,0x00,0x82,0x08,0x00,0x47,0x0E,0x20,
0xFF,0xC0,0x00,0x7F,0xE0,0x00,0x7F,0xE0,0x00,0x41,0x04,0x00,0x63,0x0C,0x60,
0x3F,0x00,0x00,0x1F,0x80,0x00,0x1F,0x80,0x00,0x00,0x00,0x00,0x70,0x00,0xE0,
0x1E,0x00,0x00,0x0F,0x00,0x00,0x0F,0x00,0x01,0xFF,0xFF,0x80,0x7F,0xFF,0xE0,
};
0x7F,0x80,0x00,0x3F,0xC0,0x00,0x3F,0xC0,0x00,0x41,0x04,0x00,0x5C,0x63,0xA0,
0xFB,0xC0,0x00,0x79,0xE0,0x00,0x79,0xE0,0x00,0x20,0x82,0x00,0x5E,0xF7,0xA0,
0xF3,0xC0,0x00,0x76,0xE0,0x00,0x76,0xE0,0x00,0x20,0x82,0x00,0x5E,0xF7,0xA0,
0xEB,0xC0,0x00,0x7E,0xE0,0x00,0x7E,0xE0,0x00,0x41,0x04,0x00,0x5C,0x63,0xA0,
0x7B,0x80,0x00,0x3D,0xC0,0x00,0x39,0xC0,0x00,0x82,0x08,0x00,0x58,0x01,0xA0,
0x7B,0x80,0x00,0x3B,0xC0,0x00,0x3E,0xC0,0x01,0x04,0x10,0x00,0x40,0x60,0x20,
0xFF,0xC0,0x00,0x7F,0xE0,0x00,0x7F,0xE0,0x00,0x41,0x04,0x00,0x61,0xF8,0x60,
0x3F,0x00,0x00,0x1F,0x80,0x00,0x1F,0x80,0x00,0x00,0x00,0x00,0x70,0x00,0xE0,
0x1E,0x00,0x00,0x0F,0x00,0x00,0x0F,0x00,0x01,0xFF,0xFF,0x80,0x7F,0xFF,0xE0,
};
#endif // Extruders
"LiquidCrystalRus.h"
#include "LiquidCrystalRus.h"
#include <stdio.h>
#include <string.h>
#include <inttypes.h>
#include <avr/pgmspace.h>
#if defined(ARDUINO) && ARDUINO >= 100
#include "Arduino.h"
#else
#include "WProgram.h"
#endif
// it is a Russian alphabet translation
// except 0401 --> 0xa2 = ╗, 0451 --> 0xb5
const PROGMEM uint8_t utf_recode[] =
{ 0x41,0xa0,0x42,0xa1,0xe0,0x45,0xa3,0xa4,0xa5,0xa6,0x4b,0xa7,0x4d,0x48,0x4f,
0xa8,0x50,0x43,0x54,0xa9,0xaa,0x58,0xe1,0xab,0xac,0xe2,0xad,0xae,0x62,0xaf,0xb0,0xb1,
0x61,0xb2,0xb3,0xb4,0xe3,0x65,0xb6,0xb7,0xb8,0xb9,0xba,0xbb,0xbc,0xbd,0x6f,
0xbe,0x70,0x63,0xbf,0x79,0xe4,0x78,0xe5,0xc0,0xc1,0xe6,0xc2,0xc3,0xc4,0xc5,0xc6,0xc7
};
// When the display powers up, it is configured as follows:
//
// 1. Display clear
// 2. Function set:
// DL = 1; 8-bit interface data
// N = 0; 1-line display
// F = 0; 5x8 dot character font
// 3. Display on/off control:
// D = 0; Display off
// C = 0; Cursor off
// B = 0; Blinking off
// 4. Entry mode set:
// I/D = 1; Increment by 1
// S = 0; No shift
//
// Note, however, that resetting the Arduino doesn't reset the LCD, so we
// can't assume that it's in that state when a sketch starts (and the
// LiquidCrystal constructor is called).
//
// modified 27 Jul 2011
// by Ilya V. Danilov http://mk90.ru/
LiquidCrystalRus::LiquidCrystalRus(uint8_t rs, uint8_t rw, uint8_t enable,
uint8_t d0, uint8_t d1, uint8_t d2, uint8_t d3,
uint8_t d4, uint8_t d5, uint8_t d6, uint8_t d7)
init(0, rs, rw, enable, d0, d1, d2, d3, d4, d5, d6, d7);
LiquidCrystalRus::LiquidCrystalRus(uint8_t rs, uint8_t enable,
init(0, rs, 255, enable, d0, d1, d2, d3, d4, d5, d6, d7);
LiquidCrystalRus::LiquidCrystalRus(uint8_t rs, uint8_t rw, uint8_t enable,
{
init(1, rs, rw, enable, d0, d1, d2, d3, 0, 0, 0, 0);
LiquidCrystalRus::LiquidCrystalRus(uint8_t rs, uint8_t enable,
init(1, rs, 255, enable, d0, d1, d2, d3, 0, 0, 0, 0);
void LiquidCrystalRus::init(uint8_t fourbitmode, uint8_t rs, uint8_t rw, uint8_t enable,
_rs_pin = rs;
_rw_pin = rw;
_enable_pin = enable;
_data_pins[0] = d0;
_data_pins[1] = d1;
_data_pins[2] = d2;
_data_pins[3] = d3;
_data_pins[4] = d4;
_data_pins[5] = d5;
_data_pins[6] = d6;
_data_pins[7] = d7;
pinMode(_rs_pin, OUTPUT);
// we can save 1 pin by not using RW. Indicate by passing 255 instead of pin#
if (_rw_pin != 255) {
pinMode(_rw_pin, OUTPUT);
}
pinMode(_enable_pin, OUTPUT);
if (fourbitmode)
_displayfunction = LCD_4BITMODE | LCD_1LINE | LCD_5x8DOTS;
else
_displayfunction = LCD_8BITMODE | LCD_1LINE | LCD_5x8DOTS;
begin(16, 1);
void LiquidCrystalRus::begin(uint8_t cols, uint8_t lines, uint8_t dotsize) {
if (lines > 1) {
_displayfunction |= LCD_2LINE;
_numlines = lines;
_currline = 0;
// for some 1 line displays you can select a 10 pixel high font
if ((dotsize != 0) && (lines == 1)) {
_displayfunction |= LCD_5x10DOTS;
// SEE PAGE 45/46 FOR INITIALIZATION SPECIFICATION!
// according to datasheet, we need at least 40ms after power rises above 2.7V
// before sending commands. Arduino can turn on way before 4.5V so we'll wait 50
delayMicroseconds(50000);
// Now we pull both RS and R/W low to begin commands
digitalWrite(_rs_pin, LOW);
digitalWrite(_enable_pin, LOW);
if (_rw_pin != 255) {
digitalWrite(_rw_pin, LOW);
}
//put the LCD into 4 bit or 8 bit mode
if (! (_displayfunction & LCD_8BITMODE)) {
// this is according to the Hitachi HD44780 datasheet
// figure 24, pg 46
// we start in 8bit mode, try to set 4 bit mode
writeNbits(0x03,4);
delayMicroseconds(4500); // wait min 4.1ms
// second try
writeNbits(0x03,4);
delayMicroseconds(4500); // wait min 4.1ms
// third go!
writeNbits(0x03,4);
// finally, set to 8-bit interface
writeNbits(0x02,4);
} else {
// this is according to the Hitachi HD44780 datasheet
// page 45 figure 23
// Send function set command sequence
command(LCD_FUNCTIONSET | _displayfunction);
delayMicroseconds(4500); // wait more than 4.1ms
// second try
// third go
// finally, set # lines, font size, etc.
// turn the display on with no cursor or blinking default
_displaycontrol = LCD_DISPLAYON | LCD_CURSOROFF | LCD_BLINKOFF;
display();
// clear it off
clear();
// Initialize to default text direction (for romance languages)
_displaymode = LCD_ENTRYLEFT | LCD_ENTRYSHIFTDECREMENT;
// set the entry mode
command(LCD_ENTRYMODESET | _displaymode);
void LiquidCrystalRus::setDRAMModel(uint8_t model) {
_dram_model = model;
/********** high level commands, for the user! */
void LiquidCrystalRus::clear()
command(LCD_CLEARDISPLAY); // clear display, set cursor position to zero

delayMicroseconds(2000); // this command takes a long time!
void LiquidCrystalRus::home()
command(LCD_RETURNHOME); // set cursor position to zero
delayMicroseconds(2000); // this command takes a long time!
void LiquidCrystalRus::setCursor(uint8_t col, uint8_t row)
int row_offsets[] = { 0x00, 0x40, 0x14, 0x54 };
if ( row >= _numlines ) {
row = _numlines-1; // we count rows starting w/0
command(LCD_SETDDRAMADDR | (col + row_offsets[row]));
// Turn the display on/off (quickly)
void LiquidCrystalRus::noDisplay() {
_displaycontrol &= ~LCD_DISPLAYON;
command(LCD_DISPLAYCONTROL | _displaycontrol);
void LiquidCrystalRus::display() {
_displaycontrol |= LCD_DISPLAYON;
// Turns the underline cursor on/off
void LiquidCrystalRus::noCursor() {
_displaycontrol &= ~LCD_CURSORON;
void LiquidCrystalRus::cursor() {
_displaycontrol |= LCD_CURSORON;
// Turn on and off the blinking cursor
void LiquidCrystalRus::noBlink() {
_displaycontrol &= ~LCD_BLINKON;
void LiquidCrystalRus::blink() {
_displaycontrol |= LCD_BLINKON;
// These commands scroll the display without changing the RAM
void LiquidCrystalRus::scrollDisplayLeft(void) {
command(LCD_CURSORSHIFT | LCD_DISPLAYMOVE | LCD_MOVELEFT);
void LiquidCrystalRus::scrollDisplayRight(void) {
command(LCD_CURSORSHIFT | LCD_DISPLAYMOVE | LCD_MOVERIGHT);
// This is for text that flows Left to Right
void LiquidCrystalRus::leftToRight(void) {
_displaymode |= LCD_ENTRYLEFT;
}
// This is for text that flows Right to Left
void LiquidCrystalRus::rightToLeft(void) {
_displaymode &= ~LCD_ENTRYLEFT;
// This will 'right justify' text from the cursor
void LiquidCrystalRus::autoscroll(void) {
_displaymode |= LCD_ENTRYSHIFTINCREMENT;
// This will 'left justify' text from the cursor
void LiquidCrystalRus::noAutoscroll(void) {
_displaymode &= ~LCD_ENTRYSHIFTINCREMENT;
// Allows us to fill the first 8 CGRAM locations
// with custom characters
void LiquidCrystalRus::createChar(uint8_t location, uint8_t charmap[]) {
location &= 0x7; // we only have 8 locations 0-7
command(LCD_SETCGRAMADDR | (location << 3));
for (int i=0; i<8; i++) {
write(charmap[i]);
/*********** mid level commands, for sending data/cmds */

inline void LiquidCrystalRus::command(uint8_t value) {
send(value, LOW);
size_t LiquidCrystalRus::write(uint8_t value)
#else
void LiquidCrystalRus::write(uint8_t value)
#endif
uint8_t out_char=value;
if (_dram_model == LCD_DRAM_WH1601) {
uint8_t ac=recv(LOW) & 0x7f;
if (ac>7 && ac<0x14) command(LCD_SETDDRAMADDR | (0x40+ac-8));
if (value>=0x80) { // UTF-8 handling
if (value >= 0xc0) {
utf_hi_char = value - 0xd0;
} else {
value &= 0x3f;
if (!utf_hi_char && (value == 1))
send(0xa2,HIGH); // ╗
else if ((utf_hi_char == 1) && (value == 0x11))
send(0xb5,HIGH); // ╦
else
send(pgm_read_byte_near(utf_recode + value + (utf_hi_char<<6) - 0x10), HIGH);
} else send(out_char, HIGH);

return 1; // assume success
#endif
/************ low level data pushing commands **********/
// write either command or data, with automatic 4/8-bit selection
void LiquidCrystalRus::send(uint8_t value, uint8_t mode) {
digitalWrite(_rs_pin, mode);
// if there is a RW pin indicated, set it low to Write
if (_rw_pin != 255) {
digitalWrite(_rw_pin, LOW);
if (_displayfunction & LCD_8BITMODE) {
writeNbits(value,8);
} else {
writeNbits(value>>4,4);
writeNbits(value,4);
// read data, with automatic 4/8-bit selection
uint8_t LiquidCrystalRus::recv(uint8_t mode) {
uint8_t retval;
digitalWrite(_rs_pin, mode);
// if there is a RW pin indicated, set it low to Write
if (_rw_pin != 255) {
digitalWrite(_rw_pin, HIGH);
}
if (_displayfunction & LCD_8BITMODE) {
retval = readNbits(8);
} else {
retval = readNbits(4) << 4;
retval |= readNbits(4);
return retval;
void LiquidCrystalRus::pulseEnable() {
digitalWrite(_enable_pin, HIGH);
delayMicroseconds(1); // enable pulse must be >450ns
delayMicroseconds(100); // commands need > 37us to settle
void LiquidCrystalRus::writeNbits(uint8_t value, uint8_t n) {
for (int i = 0; i < n; i++) {
pinMode(_data_pins[i], OUTPUT);
digitalWrite(_data_pins[i], (value >> i) & 0x01);
pulseEnable();
uint8_t LiquidCrystalRus::readNbits(uint8_t n) {
uint8_t retval=0;
for (int i = 0; i < n; i++) {

pinMode(_data_pins[i], INPUT);
digitalWrite(_enable_pin, HIGH);
delayMicroseconds(1); // enable pulse must be >450ns
for (int i = 0; i < n; i++) {
retval |= (digitalRead(_data_pins[i]) == HIGH)?(1 << i):0;
return retval;
}
Liquid crystalrus.h
// based on LiquidCrystal library from ArduinoIDE, see http://arduino.cc
// modified 27 Jul 2011
// by Ilya V. Danilov http://mk90.ru/
//
#ifndef LiquidCrystalRus_h
#define LiquidCrystalRus_h
#include <inttypes.h>
#include "Print.h"
// commands
#define LCD_CLEARDISPLAY 0x01
#define LCD_RETURNHOME 0x02
#define LCD_ENTRYMODESET 0x04
#define LCD_DISPLAYCONTROL 0x08
#define LCD_CURSORSHIFT 0x10
#define LCD_FUNCTIONSET 0x20
#define LCD_SETCGRAMADDR 0x40
#define LCD_SETDDRAMADDR 0x80
// flags for display entry mode
#define LCD_ENTRYRIGHT 0x00
#define LCD_ENTRYLEFT 0x02
#define LCD_ENTRYSHIFTINCREMENT 0x01
#define LCD_ENTRYSHIFTDECREMENT 0x00
// flags for display on/off control
#define LCD_DISPLAYON 0x04

#define LCD_DISPLAYOFF 0x00
#define LCD_CURSORON 0x02
#define LCD_CURSOROFF 0x00
#define LCD_BLINKON 0x01
#define LCD_BLINKOFF 0x00
// flags for display/cursor shift
#define LCD_DISPLAYMOVE 0x08
#define LCD_CURSORMOVE 0x00
#define LCD_MOVERIGHT 0x04
#define LCD_MOVELEFT 0x00
// flags for function set
#define LCD_8BITMODE 0x10
#define LCD_4BITMODE 0x00
#define LCD_2LINE 0x08
#define LCD_1LINE 0x00
#define LCD_5x10DOTS 0x04
#define LCD_5x8DOTS 0x00
// enum for
#define LCD_DRAM_Normal 0x00
#define LCD_DRAM_WH1601 0x01
class LiquidCrystalRus : public Print {
public:
LiquidCrystalRus(uint8_t rs, uint8_t enable,
uint8_t d4, uint8_t d5, uint8_t d6, uint8_t d7);
LiquidCrystalRus(uint8_t rs, uint8_t rw, uint8_t enable,

LiquidCrystalRus(uint8_t rs, uint8_t rw, uint8_t enable,
LiquidCrystalRus(uint8_t rs, uint8_t enable,
void init(uint8_t fourbitmode, uint8_t rs, uint8_t rw, uint8_t enable,
void begin(uint8_t cols, uint8_t rows, uint8_t charsize = LCD_5x8DOTS);
void clear();
void home();
void noDisplay();
void display();
void noBlink();
void blink();
void noCursor();
void cursor();
void scrollDisplayLeft();
void scrollDisplayRight();
void leftToRight();
void rightToLeft();
void autoscroll();
void noAutoscroll();
void createChar(uint8_t, uint8_t[]);
void setCursor(uint8_t, uint8_t);

virtual size_t write(uint8_t);
using Print::write;
#else
virtual void write(uint8_t);
#endif
void command(uint8_t);
void setDRAMModel(uint8_t);
private:
void send(uint8_t, uint8_t);
void writeNbits(uint8_t, uint8_t);
uint8_t recv(uint8_t);
uint8_t readNbits(uint8_t);
void pulseEnable();
uint8_t _rs_pin; // LOW: command. HIGH: character.
uint8_t _rw_pin; // LOW: write to LCD. HIGH: read from LCD.
uint8_t _enable_pin; // activated by a HIGH pulse.
uint8_t _data_pins[8];
uint8_t _displayfunction;
uint8_t _displaycontrol;
uint8_t _displaymode;
uint8_t _initialized;
uint8_t _numlines,_currline;
uint8_t _dram_model;
uint8_t utf_hi_char; // UTF-8 high part
};
#endif

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#define START_BMPWIDTH 60 //Width in pixels

#define START_BMPHEIGHT 64 //Height in pixels

#define START_BMPBYTEWIDTH 8 //Width in bytes

const unsigned char start_bmp[574] PROGMEM = {

// Here comes a compile-time operation to match the extruder symbols

// on the info screen to the set number of extruders in configuration.h

#define STATUS_SCREENWIDTH 115 //Width in pixels

#define STATUS_SCREENHEIGHT 19 //Height in pixels

#define STATUS_SCREENBYTEWIDTH 15 //Width in bytes

const unsigned char status_screen0_bmp[] PROGMEM = { //AVR-GCC, WinAVR

#define STATUS_SCREENWIDTH 115 //Width in pixels

#define STATUS_SCREENHEIGHT 19 //Height in pixels

#define STATUS_SCREENBYTEWIDTH 15 //Width in bytes

const unsigned char status_screen1_bmp[] PROGMEM = { //AVR-GCC, WinAVR

#define STATUS_SCREENWIDTH 115 //Width in pixels

#define STATUS_SCREENHEIGHT 19 //Height in pixels

#define STATUS_SCREENBYTEWIDTH 15 //Width in bytes

const unsigned char status_screen0_bmp[] PROGMEM = { //AVR-GCC, WinAVR

#define STATUS_SCREENWIDTH 115 //Width in pixels

#define STATUS_SCREENHEIGHT 19 //Height in pixels

#define STATUS_SCREENBYTEWIDTH 15 //Width in bytes

const unsigned char status_screen1_bmp[] PROGMEM = { //AVR-GCC, WinAVR

#define STATUS_SCREENWIDTH 115 //Width in pixels

#define STATUS_SCREENHEIGHT 19 //Height in pixels

#define STATUS_SCREENBYTEWIDTH 15 //Width in bytes

const unsigned char status_screen0_bmp[] PROGMEM = { //AVR-GCC, WinAVR

#define STATUS_SCREENWIDTH 115 //Width in pixels

#define STATUS_SCREENHEIGHT 19 //Height in pixels

#define STATUS_SCREENBYTEWIDTH 15 //Width in bytes

const unsigned char status_screen1_bmp[] PROGMEM = { //AVR-GCC, WinAVR

#if defined(ARDUINO) && ARDUINO >= 100

// it is a Russian alphabet translation

// except 0401 --> 0xa2 = ╗, 0451 --> 0xb5

const PROGMEM uint8_t utf_recode[] =

// When the display powers up, it is configured as follows:

// DL = 1; 8-bit interface data

// F = 0; 5x8 dot character font

// 3. Display on/off control:

// 4. Entry mode set:

// LiquidCrystal constructor is called).

// modified 27 Jul 2011

// by Ilya V. Danilov http://mk90.ru/

LiquidCrystalRus::LiquidCrystalRus(uint8_t rs, uint8_t rw, uint8_t enable,

uint8_t d0, uint8_t d1, uint8_t d2, uint8_t d3,

uint8_t d4, uint8_t d5, uint8_t d6, uint8_t d7)

LiquidCrystalRus::LiquidCrystalRus(uint8_t rs, uint8_t enable,

uint8_t d0, uint8_t d1, uint8_t d2, uint8_t d3,

uint8_t d4, uint8_t d5, uint8_t d6, uint8_t d7)

LiquidCrystalRus::LiquidCrystalRus(uint8_t rs, uint8_t rw, uint8_t enable,

uint8_t d0, uint8_t d1, uint8_t d2, uint8_t d3)

LiquidCrystalRus::LiquidCrystalRus(uint8_t rs, uint8_t enable,

uint8_t d0, uint8_t d1, uint8_t d2, uint8_t d3)

init(1, rs, 255, enable, d0, d1, d2, d3, 0, 0, 0, 0);

void LiquidCrystalRus::init(uint8_t fourbitmode, uint8_t rs, uint8_t rw, uint8_t enable,

uint8_t d0, uint8_t d1, uint8_t d2, uint8_t d3,

uint8_t d4, uint8_t d5, uint8_t d6, uint8_t d7)

_displayfunction = LCD_4BITMODE | LCD_1LINE | LCD_5x8DOTS;

_displayfunction = LCD_8BITMODE | LCD_1LINE | LCD_5x8DOTS;

void LiquidCrystalRus::begin(uint8_t cols, uint8_t lines, uint8_t dotsize) {

if ((dotsize != 0) && (lines == 1)) {

// SEE PAGE 45/46 FOR INITIALIZATION SPECIFICATION!

// Now we pull both RS and R/W low to begin commands

//put the LCD into 4 bit or 8 bit mode

if (! (_displayfunction & LCD_8BITMODE)) {

/** low level data pushing commands /