From f6dd6bf01feb3a21d701decaa8558ba4e4102bf2 Mon Sep 17 00:00:00 2001
From: Matt <sixteenmillimeter@riseup.com>
Date: Tue, 28 Apr 2015 08:18:31 -0400
Subject: [PATCH] Update code to use internal pull-ups + afsk

Adds afsk control via SoftModem
Switches microswitch endstop to use INPUT_PULLUP instead of circutry.
---
 intval2.ino => ino/intval2.ino | 79 +++++++++++++++++++++++-----------
 1 file changed, 54 insertions(+), 25 deletions(-)
 rename intval2.ino => ino/intval2.ino (66%)

diff --git a/intval2.ino b/ino/intval2.ino
similarity index 66%
rename from intval2.ino
rename to ino/intval2.ino
index 7e388c2..4e1d582 100644
--- a/intval2.ino
+++ b/ino/intval2.ino
@@ -1,12 +1,14 @@
 //Intval for pro trinket arduinos
 //Using 12vdc motors in place of a stepper
+//HBridge for motor control
 //Microswitch for control
 
 #include <SoftModem.h>
 #include <ctype.h>
 /*
 ----------------------------------------------------
-
+Microswitch (use INPUT_PULLUP!!)
+GND-----\ | \-----PIN
 ----------------------------------------------------
 */
 
@@ -16,31 +18,36 @@ SoftModem modem;
 /* ------------------------------------------------
  *  cmd
  * ------------------------------------------------*/
-volatile int c = 0;
- 
+volatile int cmd_fsk = 0;
+volatile char cmd_fsk_char = 'x'; 
+
 volatile int cmd_input = 0;
 const int CMD_FORWARD = 102; //f
+const char CMD_FWD_FSK = 'f';
 const int CMD_BACKWARD = 98; //b
+const char CMD_BKW_FSK = 'b';
 const int CMD_BLACK = 110; //n
 
 /* ------------------------------------------------
  *  pins
  * ------------------------------------------------*/
 const int PIN_INDICATOR = 13;
-const int PIN_MOTOR_FORWARD = 5;
-const int PIN_MOTOR_BACKWARD = 6;
-const int PIN_MICRO = 2;
+
+const int PIN_MOTOR_FORWARD = 10;
+const int PIN_MOTOR_BACKWARD = 11;
+
+const int PIN_MICRO = 8;
 
 /* ------------------------------------------------
  *  loop
  * ------------------------------------------------*/
-const int LOOP_DELAY = 100;
+const int LOOP_DELAY = 10;
 
 /* ------------------------------------------------
  *  speed
  * ------------------------------------------------*/
-const int FWD_SPEED = 240;
-const int BWD_SPEED = 240;
+const int FWD_SPEED = 255;
+const int BWD_SPEED = 255;
 
 volatile boolean running = false;
 volatile boolean cam_dir = true;
@@ -49,6 +56,7 @@ volatile int micro_position = 0;
 volatile boolean micro_primed = false;
 
 unsigned long timer = 0;
+volatile int timer_int = 0;
 
 volatile int cam_count = 0;
 volatile int cam_pos = 0;
@@ -56,57 +64,78 @@ volatile int cam_pos = 0;
 void setup () {
   Serial.begin(9600);
   Serial.flush();
+  modem.begin();
   Pins_init();
   Serial.println("Welcome to intval2.");
 }
 
 void loop () {
   while (modem.available() > 0 && !running) { 
-    c = modem.read(); 
-    Serial.println(c);
+    cmd_fsk = modem.read(); 
+    if (isprint(cmd_fsk)){
+      cmd_fsk_char = (char)cmd_fsk;
+    }
+    //Serial.println(cmd_fsk_char);
   }
   if (Serial.available() > 0 && !running){
     cmd_input = Serial.read();
     //Serial.println(cmd_input);
   }
-  if (cmd_input == 102) {
+  if ((cmd_input == CMD_FORWARD 
+    || cmd_fsk_char == CMD_FWD_FSK) 
+    && !running) {
     Frame(true);
   }
-  if (running) {
-    Frame_check();
-  } else {
-      delay(LOOP_DELAY);
+  if ((cmd_input == CMD_BACKWARD
+    || cmd_fsk_char == CMD_BKW_FSK)
+    && !running) {
+    Frame(false);
+  }
+      
+  if (cmd_input != 0
+    || cmd_fsk_char != 'x') {      
+    cmd_input = 0;
+    cmd_fsk = 0;
+    cmd_fsk_char = 'x';
+  }
+  if (running) {
+    Read_micro();
+  } else {
+    delay(LOOP_DELAY);
   }
-  cmd_input = 0;
 }
 
 void Pins_init () {
   pinMode(PIN_MOTOR_FORWARD, OUTPUT);
   pinMode(PIN_MOTOR_BACKWARD, OUTPUT);
-  pinMode(PIN_MICRO, INPUT);
+  pinMode(PIN_MICRO, INPUT_PULLUP);
   pinMode(PIN_INDICATOR, OUTPUT);
 }
 
 void Frame (boolean dir) {
+  //Serial.println("Starting Frame()...");
   Time_start();
   cam_dir = dir;
   if (cam_dir) {
+   // Serial.println("Forward");
     analogWrite(PIN_MOTOR_FORWARD, FWD_SPEED);
+    analogWrite(PIN_MOTOR_BACKWARD, 0);
   } else {
+    //Serial.println("Backwards");
     analogWrite(PIN_MOTOR_BACKWARD, BWD_SPEED);
+    analogWrite(PIN_MOTOR_FORWARD, 0);
   }
   Indicator(true);
   running = true;
   micro_primed = false;
-  cmd_input = 0;
 }
 
-void Frame_check () {
+void Read_micro () {
   micro_position = digitalRead(PIN_MICRO);
   //Serial.println(micro_position);
   if (micro_position == LOW && micro_primed == false) {
     micro_primed = true;
-    Serial.println("Frame micro_primed");
+    //Serial.println("Frame micro_primed");
   } else if (micro_position == HIGH && micro_primed == true) {
     Stop();
   }
@@ -117,7 +146,7 @@ void Stop () {
   analogWrite(PIN_MOTOR_FORWARD, 0);
   analogWrite(PIN_MOTOR_BACKWARD, 0);
   
-  Serial.println("Frame ran");
+  //Serial.println("Frame ran");
   Time_end();
  
   cam_count++;
@@ -138,9 +167,9 @@ void Time_start () {
 
 void Time_end () {
   timer = millis() - timer;
-  int timer_int = int(timer);
-  Serial.print(timer_int);
-  Serial.println("ms");
+  timer_int = int(timer);
+  //Serial.print(timer_int);
+  //Serial.println("ms");
 }
 
 void Indicator (boolean state) {