Serial version of the INTVAL 2.1 code

This commit is contained in:
Matt 2016-05-31 11:42:55 -04:00
parent 5be6268811
commit cdc0309d65
1 changed files with 403 additions and 0 deletions

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boolean debug_state = false;
//Can be controlled via serial
//Buttons are optional
//Exposure controls assumes use of a 120RPM motor
//Uses L298N H-bridge breakout board
//Target board is an Adafruit Metro Mini,
//also using an Uno as a dev board
/*
----------------------------------------------------
Microswitch (use INPUT_PULLUP!!)
GND-----\ | \-----PIN
----------------------------------------------------
*/
const int MOTOR_RPM = 120;
const int BOLEX_C = round((133 / (1.66 * 360)) * 1000); //bolex exposure constant
const int FAST_PWM = 255;
const int SLOW_PWM = 127;
/* ------------------------------------------------
* pins
* ------------------------------------------------*/
//Adafruit Metro Mini
const int PIN_INDICATOR = 13;
const int PIN_MOTOR_FORWARD = 9;
const int PIN_MOTOR_BACKWARD = 10;
const int PIN_MICRO = 19; //laser cut version
const int BUTTON[4] = {3, 6, 5, 4}; //trigger, direction, speed, delay
/* ------------------------------------------------
* loop
* ------------------------------------------------*/
const int LOOP_DELAY = 10;
/* ------------------------------------------------
* state
* ------------------------------------------------*/
volatile int button_state[4] = {1, 1, 1, 1};
volatile long button_time[4] = {0, 0, 0, 0};
volatile long buttontime = 0;
volatile boolean sequence = false;
volatile boolean running = false;
volatile boolean cam_dir = true;
volatile boolean delaying = false;
volatile boolean timed = false;
volatile int counter = 0;
volatile int micro_position = 0;
volatile boolean micro_primed = false;
unsigned long timer = 0;
unsigned long frame_start = 0;
unsigned long delay_start = 0;
String timed_str = "600";
unsigned long timed_val = 600;
unsigned long timed_open = 300; //ms after start_frame to pause
volatile boolean timed_paused = false;
unsigned long timed_delay = 0;
unsigned long timed_last = 0;
unsigned long timed_avg = 600;
volatile int fwd_speed = FAST_PWM;
volatile int bwd_speed = FAST_PWM;
volatile long seq_delay = 42;
/* ------------------------------------------------
* serial
* ------------------------------------------------*/
const char cmd_camera = 'c';
const char cmd_cam_forward = 'e';
const char cmd_cam_backward = 'f';
const char cmd_timed = 'n';
const char cmd_debug = 'd';
const char cmd_connect = 'i';
volatile char cmd_char = 'z';
const char cmd_mcopy_identifier = 'm';
const char cmd_cam_identifier = 'k';
const int serialDelay = 5;
void setup() {
Serial_init();
Pins_init();
Buttons_init();
}
void loop() {
if (Serial.available()) {
/* read the most recent byte */
cmd_char = (char)Serial.read();
}
if (cmd_char != 'z') {
cmd(cmd_char);
cmd_char = 'z';
}
timer = millis();
Btn(0);
Btn(1);
Btn(2);
Btn(3);
if (sequence && delaying) {
Watch_delay();
}
if (running) {
if (timed) {
Read_timed();
} else {
Read_micro();
}
}
if (!running && !sequence && !delaying){
delay(LOOP_DELAY);
}
}
void cmd (char val) {
if (val == cmd_debug) {
debug();
} else if (val == cmd_connect) {
connect();
} else if (val == cmd_mcopy_identifier) {
identify();
} else if (val == cmd_camera) {
Frame();
} else if (val == cmd_cam_forward) {
cam_direction(true); //explicit
} else if (val == cmd_cam_backward) {
cam_direction(false);
} else if (val == cmd_timed) {
timedString();
}
}
void debug () {
debug_state = true;
Serial.println(cmd_debug);
log("debugging enabled");
}
void connect () {
Serial.println(cmd_connect);
log("connect()");
}
void identify () {
Serial.println(cmd_cam_identifier);
log("identify()");
}
//sending "0" will reset to default exposure time
void timedString () {
while (Serial.available() == 0) {
//Wait for timed string
}
timed_str = Serial.readString();
timed_val = timed_str.toInt();
if (timed_val < 600) {
timed_val = 600;
timed_str = "600";
timed = false;
} else {
timed_delay = timed_val - BOLEX_C;
timed = true;
}
Serial.println(cmd_timed);
log("Set exposure time to: ");
log(timed_str);
}
void Serial_init () {
Serial.begin(57600);
Serial.flush();
Serial.setTimeout(serialDelay);
}
void Pins_init () {
pinMode(PIN_MOTOR_FORWARD, OUTPUT);
pinMode(PIN_MOTOR_BACKWARD, OUTPUT);
pinMode(PIN_MICRO, INPUT_PULLUP);
pinMode(PIN_INDICATOR, OUTPUT);
}
void Buttons_init () {
for (int i = 0; i < 4; i++) {
pinMode(BUTTON[i], INPUT_PULLUP);
}
}
void Btn (int index) {
int val = digitalRead(BUTTON[index]);
if (val != button_state[index]) {
if (val == LOW) { // pressed
button_time[index] = millis();
//button_start(index);
} else if (val == HIGH) { // not pressed
buttontime = millis() - button_time[index];
button_end(index, buttontime);
}
}
button_state[index] = val;
}
/*
* dormant for now
* void button_start (int index) {
if (index == 0) {
}
}*/
void button_end (int index, long buttontime) {
if (index == 0) {
if (buttontime > 1000) {
if (!sequence) {
sequence = true;
Output(2, 75);
Frame();
}
} else {
if (sequence) {
sequence = false;
//Output(2, 75);
} else {
Frame();
}
}
} else if (index == 1) { //set direction
if (buttontime < 1000) {
cam_dir = true;
Output(1, 500);
} else if (buttontime > 1000) {
cam_dir = false;
Output(2, 250);
}
} else if (index == 2) { // set speed
if (buttontime <= 1000) {
fwd_speed = FAST_PWM;
bwd_speed = FAST_PWM;
Output(1, 500);
} else if (buttontime > 1000) {
fwd_speed = SLOW_PWM;
bwd_speed = SLOW_PWM;
Output(2, 250);
}
} else if (index == 3) { //set delay
if (buttontime < 42) {
seq_delay = 42;
Output(1, 500);
} else {
seq_delay = buttontime;
Output(2, 250);
}
}
buttontime = 0;
}
void Indicator (boolean state) {
if (state) {
digitalWrite(PIN_INDICATOR, HIGH);
} else {
digitalWrite(PIN_INDICATOR, LOW);
}
}
void Output (int number, int len) {
for (int i = 0; i < number; i++) {
Indicator(true);
delay(len);
Indicator(false);
delay(42);
}
}
void Frame () {
frame_start = millis();
if (cam_dir) {
analogWrite(PIN_MOTOR_FORWARD, fwd_speed);
analogWrite(PIN_MOTOR_BACKWARD, 0);
} else {
analogWrite(PIN_MOTOR_BACKWARD, bwd_speed);
analogWrite(PIN_MOTOR_FORWARD, 0);
}
running = true;
micro_primed = false;
}
boolean Read_delay () {
if (fwd_speed == FAST_PWM) {
if (timer - frame_start >= 300) {
return true;
}
} else {
if (timer - frame_start >= 600) {
return true;
}
}
return false;
}
void Watch_delay () {
if (timer - delay_start >= seq_delay) {
delaying = false;
Frame();
}
}
void Read_timed () {
if (!timed_paused) {
if (timer - frame_start > timed_open
&& timer - frame_start < timed_open + timed_delay) {
timed_paused = true;
Pause_timed();
} else if (timer - frame_start > timed_open + timed_delay) {
micro_position = digitalRead(PIN_MICRO);
if (micro_position == HIGH) {
Stop();
}
delay(2);//smooths out signal
}
} if (timed_paused && timer - frame_start > timed_open + timed_delay) {
timed_paused = false;
Start_timed();
}
}
void Pause_timed () {
analogWrite(PIN_MOTOR_FORWARD, 0);
analogWrite(PIN_MOTOR_BACKWARD, 0);
}
void Start_timed () {
if (cam_dir) {
analogWrite(PIN_MOTOR_FORWARD, fwd_speed);
analogWrite(PIN_MOTOR_BACKWARD, 0);
} else {
analogWrite(PIN_MOTOR_BACKWARD, bwd_speed);
analogWrite(PIN_MOTOR_FORWARD, 0);
}
}
void Read_micro () {
if (Read_delay()) {
micro_position = digitalRead(PIN_MICRO);
if (micro_position == LOW
&& micro_primed == false) {
micro_primed = true;
} else if (micro_position == HIGH
&& micro_primed == true) {
Stop();
}
delay(2);//smooths out signal
}
}
void Stop () {
delay(10);
analogWrite(PIN_MOTOR_FORWARD, 0);
analogWrite(PIN_MOTOR_BACKWARD, 0);
running = false;
micro_primed = false;
if (cam_dir) {
counter += 1;
} else {
counter -= 1;
}
timed_last = timer - frame_start;
timed_avg = (timed_avg + timed_last) / 2;
Serial.println(cmd_camera);
log("Frame completed");
log(String(timed_last));
}
void cam_direction (boolean state) {
cam_dir = state;
if (state) {
timed_open = 300;
Serial.println(cmd_cam_forward);
log("cam_direction -> true");
} else {
timed_open = 400;
Serial.println(cmd_cam_backward);
log("cam_direction -> false");
}
}
void log (String msg) {
if (debug_state) {
Serial.println(msg);
}
}