Documentation

• 1: Getting Started
• 1.1: Blink Example
• 2: Concepts
• 2.1: Automata
• 2.2: States
• 2.3: Transitions
• 2.4: Code Style
• 3: Components
• 3.1: Output
• 3.1.1: LED
• 3.1.2: Buzzer
• 3.1.3: Vibration Motor
• 3.1.4: Relay
• 3.1.5: Servo
• 3.2: Sensors
• 3.2.1: Motion Sensor
• 3.2.2: Temperature Sensor
• 3.2.3: Humidity Sensor
• 3.2.4: Vibration Sensor
• 3.2.5: Loudness Sensor
• 3.2.6: Ultrasonic Ranger
• 3.3: User Input
• 3.3.1: Button
• 3.3.2: Switch
• 3.3.3: Slider
• 3.3.4: Potentiometer
• 4: Workshop
• 4.1: Day One
• 4.2: Day Two
• 4.3: Day Three
• 4.4: Quiz

1 - Getting Started

Want to start coding using Automaduino? Great! Find out about the editor interface and what you need to do to generate code.

Overview

Arduino Editor Interface

The interface consists of the following parts:

Component Drawer

This drawers consists of all component states you can use. To find out more about the components visit the Components Page.

Start Point

The Start Point is the entry for your program. You need to connect it to a state for the code to be able to run.

State

A state consists of component and a function. The state executes the function for its assigned component. Find out more about states here.

Transition

A transition connects two states and determines how and when to move from one state to the next. There are multiple different transition types. Find out more about transitions here.

Pin Assignment

This opens the Pin Assignment dialogue. This is necessary as the Arduino needs to know to which pin your component is connected. If there is a state on the canvas that does not have a pin assigned a warning is shown.

Code

Here the code for the Arduino is shown! The code is automatically generated if you add a state or connect two states. It also works as a text editor if you want to change the code.

Code Style

The code style menu allows you to select different code styles for the generator. This for advanced programmers. All Code Styles are explained in this section.

Pin Assignment

If you click on the pin assignment button a dialogue will open. Here you can assign the pins for the components on the board.

Pin Assignment example

First add a new component, then select a pin number and a component type. If you have done this successfully you can drag a state from the list at the bottom and add it to the component.

If you’re done save your assignments by clicking on the submit button.

Tipp: You can rename your states so you know exactly which state you are assigning!

Copy Code

To use your code you have to copy it. You can always select all code in the editor by hand, but there is also a shortcut in the editor menu.

Copy code using the editor shortcut

If your editor is closed there is a shortcut available at the bottom of the closed drawer. Next to it is also a shortcut to the pin assigment.

Copy code with a closed code editor

Arduino IDE

To upload a sketch to the Arduino you need to install the Arduino IDE.

If you’ve done this successfully, open the IDE and select your board type. The default one is “Arduino Uno”.

Board selection Menu

Next connect your board via USB to your computer. Then select your board in the port selection. The correct port should have the board name next to it.

Port Selection Menu

Then you can copy the code of the Automaduino editor and paste it into the Arduino editor. To upload a sketch press the upload button while your Arduino is connected. That’s it!

Upload Button

For a full example head over to the blink page.

1.1 - Blink Example

The blink program is the Hello World program for the Arduino. We use a single LED and turn it on and off again with a slight delay. As a result the LED will blink, hence the name. If done correctly we can verify that our Arduino is working correctly and the connection is working.

Scheme

To get started grab a LED and a resistor. Connect the LED to Pin 7 and use a breadboard to connect the GND pin with the resistor and LED.

See the scheme below on an example for the connections.

Connection scheme for the blink program

Sketch

Now we first think about how our automata should look like. Use a pen and paper and try to sketch what is happening. An example automata is shown below.

Blink sketch example

Add States

Now we’re going to translate our sketch to the Automaduino. For this we add two states to our canvas: A LED that is on and a LED that is off.

Blink states

Add Transitions

We’re now going to connect the states. We start by connecting the start point with the ON state. After we turned the LED on, we want to wait a short time and then turn it off. To do this we connect it with the OFF state and select a delay of 1000 ms. To repeat our blink we connect back to the ON state.

Blink transitions

Assign Pins

To finish our code generation we need to assign pins. We open the dialogue and add a LED component on pin 7. We then assign both available states to this component and submit.

Full blink example

Upload

Now copy the code into the Arduino IDE and upload the sketch as detailed in the Getting Started guide. If you connected the LED correctly it should now blink! You successfully programmed an Arduino!

Full Example

2 - Concepts

These pages will explain to you on what concepts Automaduino was built. You do not need them to use the software, but they will give you some interesting insights.

2.1 - Automata

Finite State Machine (Automaton)

A finite state machine, also called automaton, is a computation model in which a machine can at any given time hold one state. They perform a predicted sequence of actions based on a given input. States are connected by transitions. The example below is a state machine for a vending machine.

Example Highbrow CC-by-SA.

Importance in Computer Science

State machines are important in computer science. They can be used to model languages. For example parsers are often depicted as state machines.

They also have more practical uses as in UML statecharts.

Usage in Automaduino

The visual representation of Automaduino is based on state machines. Using sketches we try to determine the behaviour of our Arduino upfront and use this for our visual programming language.

Example for a sketch based on a automaton

2.2 - States

States are a key component of finite state autmata. In Automaduino they are responsible for generating the code that is executed on the Arduino.

Overview

State overview

Component

The component this state will correspond to.

Link

This button can be used to open the documentation containing more information about the expected input and other features.

Name

This field can be used to set a specific name for this state. The name will be used in the function generation and on the pin assignment screen.

Function

The function executed by this state. One component can have multiple functions. They are listed below each other in the component drawer.

Pin

If a pin was assigned it will show the number on the state. If not the value “unassigned” will appear and the pin warning is shown in the code editor.

Highlight Option

Highlight Action example

Automaduino features a highlight option to see which code corresponds to a specific state. To do this right click the block and select which part you want to see. This also works for transitions.

2.3 - Transitions

Overview

Example of transitions in the Blink Program.

Transitions connect states. After the code in the state has been executed a transition describes how we move on to the next state. The then and delay transition are available for all types of components, while the if, ifelse and cond transitions are only available for user input and sensor components. The later three depend on the input generated by the component.

Available Transitions

then

then example

A then transition immediatly moves on to the next state.

delay

delay transition example

A delay transition waits for a specified number of milliseconds before moving to the next state.

if

if transition example

An if transition will only move on to the next state if a condition is met, if not it will remain in the current state. This is useful for sensors.

if else

If Else transition example

An if else transition will only move on to the next state if a condition is met, if not it will move on to a different state. This is useful for user input components.

cond

Cond transition example

A cond transition will move to different states depending on the input. This makes sense for sensors with analog output as we can define different action depending on the resulting value.

2.4 - Code Style

Code Style is a feature that allows you to change how your code looks. This is not relevant for beginners, but once you want to expand on the generated code it is important to know which style you prefer. The default style the Functions mode.

Functions

The default style for the editor. This code is easy to read and to edit. It is longer compared to the abridged version tho.

• All states generate their own function based on their name.
• To move from one state to the next the function of the following state is called.

Abridged

The abridged style is the shortest available style. Here all code is generated within the loop function - This is similar to the style that is usually found in tutorials. For more complex projects this makes the code harder to understand.

• All states generate only the necessary Arduino function.
• There are no explicit transitions - The code for the following state is interlocked in the loop.

Switch

The switch version is the most true to the thought of finite state automata. Here we apply a switch machine in the loop function and set a state variable in the functions to move from one state to the next. This works as once a function execution is done, the loop function will take over again and, based on the updated state, call the corresponding function. Compared to the other styles this execution is the cleanest, but also harder to understand for beginners than the Functions mode.

• All states generate their own function based on their name.
• A state variable is added that controls the current state of the program.
• To move from one state to the next the state variable is manipulated in the function.
• Once the code execution is done the loop function takes over and acts according to the current state.

Blink Comparison

See below how the code style affects the code generation for the Blink Example.

• Functions
• Abridged
• Switch

//Imports:

//Pins:
int pin_0_led = 7;

void setup() { 
pinMode(pin_0_led, OUTPUT);
}

void loop() {
function_0_led();
}

void function_0_led(){
digitalWrite(pin_0_led, HIGH);
delay(1000);
function_1_led();
}

void function_1_led(){
digitalWrite(pin_0_led, LOW);
delay(1000);
function_0_led();
}

  

//Imports:

//Pins:
int pin_0_led = 7;

void setup() { 
pinMode(pin_0_led, OUTPUT);
}

void loop() {
while(true){
digitalWrite(pin_0_led, HIGH);
delay(1000);
digitalWrite(pin_0_led, LOW);
}
}

  

//Imports:

//Pins:
int pin_0_led = 7;

int state = 0;
void setup() { 
pinMode(pin_0_led, OUTPUT);
}

void loop() {
switch(state){
case 0:
function_0_led();
break;
case 1:
function_1_led();
break;
default:
break;
}
}

void function_0_led(){
digitalWrite(pin_0_led, HIGH);
delay(1000);
state = 1;
}

void function_1_led(){
digitalWrite(pin_0_led, LOW);
delay(1000);
state = 0;
}

  

3 - Components

The following sections describes the available components in Automaduino. They’re grouped like in the editor into three sections: Output, User Input and Sensors.

3.1 - Output

3.1.1 - LED

Connection scheme

Scheme made with Fritzing.

Functions

On

void function_0_led(){
digitalWrite(pin_0_led, HIGH);
function_0_led();
}
  

digitalWrite(pin_0_led, HIGH);
  

void function_0_led(){
digitalWrite(pin_0_led, HIGH);
state = 1;
}
  

Off

void function_0_led(){
digitalWrite(pin_0_led, LOW);
function_0_led();
}
  

digitalWrite(pin_0_led, LOW);
  

void function_0_led(){
digitalWrite(pin_0_led, LOW);
state = 1;
}
  

3.1.2 - Buzzer

Connection scheme

Scheme made with Fritzing.

Functions

On

void function_0_buzzer(){
digitalWrite(pin_0_buzzer, HIGH);
function_0_buzzer();
}
  

digitalWrite(pin_0_buzzer, HIGH);
  

void function_0_buzzer(){
digitalWrite(pin_0_buzzer, HIGH);
state = 1;
}
  

Off

void function_0_buzzer(){
digitalWrite(pin_0_buzzer, LOW);
function_0_buzzer();
}
  

digitalWrite(pin_0_buzzer, LOW);
  

void function_0_buzzer(){
digitalWrite(pin_0_buzzer, LOW);
state = 1;
}
  

3.1.3 - Vibration Motor

Connection scheme

Scheme made with Fritzing.

Functions

On

void function_0_vibrationMotor(){
digitalWrite(pin_0_vibrationMotor, HIGH);
function_0_vibrationMotor();
}
  

digitalWrite(pin_0_vibrationMotor, HIGH);
  

void function_0_vibrationMotor(){
digitalWrite(pin_0_vibrationMotor, HIGH);
state = 1;
}
  

Off

void function_0_vibrationMotor(){
digitalWrite(pin_0_vibrationMotor, LOW);
function_0_vibrationMotor();
}
  

digitalWrite(pin_0_vibrationMotor, LOW);
  

void function_0_vibrationMotor(){
digitalWrite(pin_0_vibrationMotor, LOW);
state = 1;
}
  

3.1.4 - Relay

Connection scheme

Scheme made with Fritzing.

Functions

On

void function_0_relay(){
digitalWrite(pin_0_relay, HIGH);
function_0_relay();
}
  

digitalWrite(pin_0_relay, HIGH);
  

void function_0_relay(){
digitalWrite(pin_0_relay, HIGH);
state = 1;
}
  

Off

void function_0_relay(){
digitalWrite(pin_0_relay, LOW);
function_0_relay();
}
  

digitalWrite(pin_0_relay, LOW);
  

void function_0_relay(){
digitalWrite(pin_0_relay, LOW);
state = 1;
}
  

3.1.5 - Servo

Connection scheme

Scheme made with Fritzing.

Functions

Degree

void function_1_servo(){
servo_0.write(0);
function_1_servo();
}
  

servo_0.write(0);
  

void function_0_servo(){
servo_0.write(0);
state = 1;
}
  

3.2 - Sensors

3.2.1 - Motion Sensor

Connection scheme

Scheme made with Fritzing.

Functions

Digital Read

void function_0_motionSensor(){
int value = digitalRead(pin_0_motionSensor);
function_0_motionSensor();
}
  

int value = digitalRead(pin_0_motionSensor);
  

void function_0_motionSensor(){
int value = digitalRead(pin_0_motionSensor);
state = 1;
}
  

3.2.2 - Temperature Sensor

Connection scheme

Scheme made with Fritzing.

Functions

Analog Read

void function_0_temperatureSensor(){
int value = map(analogRead(pin_0_temperatureSensor), 0, 410, -50, 150);
function_0_temperatureSensor();
}
  

int value = map(analogRead(pin_1_temperatureSensor), 0, 410, -50, 150);
  

void function_0_temperatureSensor(){
int value = map(analogRead(pin_1_temperatureSensor), 0, 410, -50, 150);
state = 1;
}
  

3.2.3 - Humidity Sensor

Connection scheme

Scheme made with Fritzing.

Functions

Analog Read

void function_0_humiditySensor(){
int value = analogRead(pin_0_humiditySensor);
function_0_humiditySensor();
}
  

int value = analogRead(pin_0_humiditySensor);
  

void function_0_humiditySensor(){
int value = analogRead(pin_0_humiditySensor);
state = 1;
}
  

3.2.4 - Vibration Sensor

Connection scheme

Scheme made with Fritzing.

Functions

Digital Read

void function_0_vibrationSensor(){
int value = digitalRead(pin_0_vibrationSensor);
function_0_vibrationSensor();
}
  

int value = digitalRead(pin_0_vibrationSensor);
  

void function_0_vibrationSensor(){
int value = digitalRead(pin_0_vibrationSensor);
state = 1;
}
  

3.2.5 - Loudness Sensor

Connection scheme

Scheme made with Fritzing.

Functions

Analog Read

void function_0_Lautst_rke_sensor(){
int value = analogRead(pin_0_loudnessSensor);
function_0_Lautst_rke_sensor();
}
  

int value = analogRead(pin_0_loudnessSensor);
  

void function_0_Lautst_rke_sensor(){
int value = analogRead(pin_0_loudnessSensor);
state = 1;
}
  

3.2.6 - Ultrasonic Ranger

Connection scheme

Scheme made with Fritzing.

Functions

Send Wave

void function_0_Ultraschall_messer(){
digitalWrite(pin_2_ultrasonicRanger, LOW);
delay(5);
digitalWrite(pin_2_ultrasonicRanger, HIGH);
delay(10);
digitalWrite(pin_2_ultrasonicRanger, LOW);
function_1_Ultraschall_messer();
}
  

digitalWrite(pin_2_ultrasonicRanger, LOW);
delay(5);
digitalWrite(pin_2_ultrasonicRanger, HIGH);
delay(10);
digitalWrite(pin_2_ultrasonicRanger, LOW);
  

void function_0_Ultraschall_messer(){
digitalWrite(pin_2_ultrasonicRanger, LOW);
delay(5);
digitalWrite(pin_2_ultrasonicRanger, HIGH);
delay(10);
digitalWrite(pin_2_ultrasonicRanger, LOW);
state = 1;
}
  

Receive Wave

void function_1_Ultraschall_messer(){
long pulseValueFromWave = pulseIn(pin_2_ultrasonicRanger, HIGH);
long value = (pulseValueFromWave/2) * 0.03432;
function_1_Ultraschall_messer();
}
  

long pulseValueFromWave = pulseIn(pin_2_ultrasonicRanger, HIGH);
long value = (pulseValueFromWave/2) * 0.03432;
  

void function_1_Ultraschall_messer(){
long pulseValueFromWave = pulseIn(pin_2_ultrasonicRanger, HIGH);
long value = (pulseValueFromWave/2) * 0.03432;
state = 1; 
}
  

3.3 - User Input

3.3.1 - Button

Connection scheme

Scheme made with Fritzing.

Functions

Await Input

void function_0_button(){
int value = digitalRead(pin_0_button);
delay(200);
function_0_button();
}
  

int value = digitalRead(pin_0_button);
delay(200);
  

void function_0_button(){
int value = digitalRead(pin_0_button);
delay(200);
state = 1;
}
  

3.3.2 - Switch

Connection scheme

Scheme made with Fritzing.

Functions

Await Input

void function_0_Schalter(){
int value = digitalRead(pin_0_switch);
function_0_Schalter();
}
  

int value = digitalRead(pin_0_switch);
  

void function_0_Schalter(){
int value = digitalRead(pin_0_switch);
state = 1;
}
  

3.3.3 - Slider

Connection scheme

Scheme made with Fritzing.

Functions

Await Input

void function_0_Schieberegler(){
int value = analogRead(pin_0_slider);
function_0_Schieberegler();
}
  

int value = analogRead(pin_0_slider);
  

void function_0_Schieberegler(){
int value = analogRead(pin_0_slider);
state = 1;
}
  

3.3.4 - Potentiometer

Connection scheme

Scheme made with Fritzing.

Functions

Await Input

void function_0_Potentiometer(){
int value = analogRead(pin_0_potentiometer);
function_0_Potentiometer();
}
  

int value = analogRead(pin_0_potentiometer);
  

void function_0_Potentiometer(){
int value = analogRead(pin_0_potentiometer);
state = 1;
}
  

4 - Workshop

Autmaduino was tested in a 3 day workshop in April 2022. For this I created workshop materials including presentations, work sheets and cheat sheets. The material is designed for beginners. Day 1 introduces the basic Arduino features and introduces Automaduino. Day 2 features the input and output components and introduces more complex transitions. Day 3 is about the transition to textbased programming. Finally there is a quiz to test your knowledge.

4.1 - Day One

Presentation

• Presentation

Cheat Sheets

• Cheat Sheet 1
• Cheat Sheet 2
• Cheat Sheet 3

Work Sheets

• Work Sheet 1
• Work Sheet 2
• Work Sheet 3
• Work Sheet 4

4.2 - Day Two

Presentation

• Presentation

Cheat Sheets

• Cheat Sheet 1
• Cheat Sheet 2

Work Sheets

• Work Sheet 1
• Work Sheet 2
• Work Sheet 3
• Work Sheet 4
• Work Sheet 5
• Work Sheet 6

4.3 - Day Three

Presentation

• Presentation

Cheat Sheets

• Cheat Sheet 1
• Cheat Sheet 2

Work Sheets

• Work Sheet 1
• Work Sheet 2
• Work Sheet 3
• Work Sheet 4
• Work Sheet 4

4.4 - Quiz

This quiz was designed to be answered after finishing the workshop. It features 10 question regarding the material. Can you answer them without using your cheat sheets?

Start the quiz here!