Script has been re-written but does NOT have behaviors for handling unexpected states.

ino/intval2_4_serial/Intval2.cpp

@@ -91,9 +91,7 @@ void Intval2::Exposure (unsigned long ms) {
 	if (ms < 600) {
 		timed_exposure_ms = 0;
     	timed_exposure = false;
-    	//timed_open = OpenTiming();
 	} else {
-		//timed_delay = timed_exposure_val - BOLEX_C;
 		timed_exposure_ms = ms;
 		timed_exposure = true;
 	}
@@ -106,12 +104,11 @@ void Intval2::Camera () {
 		timed_exposure_opening = true;
 		open_start = millis();
 		if (direction) {
-			open_stop = round((float) avg * MOTOR_OPEN_FORWARD);
-			timed_exposure_delay = 0;
+			open_stop = round( (float) avg * MOTOR_OPEN_FORWARD );
 		} else {
 			open_stop = round((float) avg * MOTOR_OPEN_BACKWARD);
-			timed_exposure_delay = 0;//
 		}
+		timed_exposure_delay = timed_exposure_ms - round( (float) avg * MOTOR_OPEN_ANGLE );
 	}
 	MotorStart();
 	running = true;
@@ -230,6 +227,8 @@ void Intval2::TimedExposurePause () {
 	open_avg = round(((timer - open_start) + open_avg) / 2);
 }
 
+
+
 void Intval2::TimedExposureWatch () {
 	if (timed_exposure_opening) {
 		if (timer - frame_start >= open_stop) {
@@ -327,4 +326,16 @@ String Intval2::State () {
 		return String(timed_exposure_avg);
 	}
 	return String(avg);
-}
+}
+
+boolean Intval2::IsOpening() {
+	return opening;
+}
+	
+boolean Intval2::IsClosing() {
+	return closing;
+}
+	
+boolean Intval2::IsRunning() {
+	return running;
+}

ino/intval2_4_serial/Intval2.h

@@ -17,6 +17,7 @@ class Intval2 {
 	const uint16_t MOTOR_RPM = 120; 
 	const float MOTOR_OPEN_FORWARD = 0.25;
 	const float MOTOR_OPEN_BACKWARD = 0.75;
+	const float MOTOR_OPEN_ANGLE = 0.3694; // 133deg
 	const uint8_t MOTOR_PWM = 255; // Not varying this for now
 	const uint16_t MICROSWITCH_DELAY = 50;
 
@@ -97,6 +98,10 @@ class Intval2 {
 	void Direction(boolean state);
 	void Exposure(unsigned long ms);
 	String State();
+	boolean IsOpening();
+	boolean IsClosing();
+	boolean IsRunning();
+
 
 };
 

ino/intval2_4_serial/intval2_4_serial.ino

@@ -22,12 +22,30 @@ void loop () {
   cmd(cmd_char);
 
   intval2.loop();
+
+  if (camera_running && !intval2.IsRunning()) {
+  	mc.confirm(mc.CAMERA);
+  	mc.log("Camera completed");
+  	//mc.log(String(timed_exposure_last));
+  	camera_running = false;
+  }
+
+  if (open_running && !intval2.IsOpening()) {
+
+  	open_running = false;
+  }
+
+  if (close_running && !intval2.IsClosing()) {
+
+  	close_running = false;
+  }
 }
 
 void cmd (char val) {
   if (val == mc.CAMERA) {
   	camera_running = true;
     intval2.Camera();
+    camera_running = true;
   } else if (val == mc.CAMERA_FORWARD) {
     SetDirection(true);
   } else if (val == mc.CAMERA_BACKWARD) {