mcopy/ino/mcopy_projector_firmware/McopyProjector.cpp

/// Mcopy Projector Class

#include "McopyProjector.h"

McopyProjector::McopyProjector (AccelStepper takeup, AccelStepper feed, 
		uint8_t takeupSettingA, uint8_t takeupSettingB, 
		uint8_t feedSettingA, uint8_t feedSettingB,
		uint8_t takeupEmitter, uint8_t takeupReceiver,
		uint8_t feedEmitter, uint8_t feedReceiver,
		uint8_t servoPin) {
	_takeup = takeup;
	_feed = feed;

	_takeupSettingA = takeupSettingA;
	_takeupSettingB = takeupSettingB;
	_feedSettingA = feedSettingA;
	_feedSettingB = feedSettingB;
	_takeupEmitter = takeupEmitter;
	_takeupReceiver = takeupReceiver;
	_feedEmitter = feedEmitter;
	_feedReceiver = feedReceiver;
	_servoPin = servoPin;
}

void McopyProjector::begin () {
  _takeup.setMaxSpeed(_speed);
  _takeup.setSpeed(_speed);
  _takeup.setAcceleration(1000.0);
 
  _feed.setMaxSpeed(_speed);
  _feed.setSpeed(_speed);
  _feed.setAcceleration(1000.0);

  pinMode(_takeupSettingA, OUTPUT);
	pinMode(_takeupSettingB, OUTPUT);
	pinMode(_feedSettingA, OUTPUT);
	pinMode(_feedSettingB, OUTPUT);
	pinMode(_takeupEmitter, OUTPUT);
	pinMode(_feedEmitter, OUTPUT);
	pinMode(_takeupReceiver, INPUT);
	pinMode(_feedReceiver, INPUT);

	//keep at 1 for now
  setStepperMode(1);

  _servo.attach(_servoPin);
  _servo.write(_servoHome);
}

void McopyProjector::setDirection (bool dir) {
	_dir = dir;
}

void McopyProjector::frame (bool dir) {
	int16_t spf = _stepsPerFrame * _mode; //scaled
	bool running = true;
	if (dir != _dir) {
		setDirection(dir);
	}

	int64_t takeupGoal = _takeup.currentPosition();
	int64_t feedGoal = _feed.currentPosition();
		
	takeupGoal += _dir ? spf : -spf;
	feedGoal += _dir ? spf : -spf;

	_takeup.moveTo(takeupGoal);
	_feed.moveTo(feedGoal);

	_running = true;

	_servo.write(_servoAway);
	delay(20);
	
	while (running) {
		if (_takeup.distanceToGo() == 0 && _feed.distanceToGo() == 0) {
			running = false;
			_posTakeup = takeupGoal;
			_posFeed += feedGoal;
		} else {
			_takeup.run();
    	_feed.run();
		}
	}
	
	delay(20);
	_servo.write(_servoHome);

	_running = false;

}

void McopyProjector::adjust(uint8_t motor, int64_t steps) {
	uint64_t s = abs(steps);

	//moveTo
	if (motor == 0) {
		_posTakeup += steps;
	} else if (motor == 1) {
		_posFeed += steps;
	}
}

void McopyProjector::adjustBoth (int64_t steps) {
	uint64_t s = abs(steps);
	
	//steppers.stepBoth(s);
	_posTakeup += steps;
	_posFeed += steps;

}

void McopyProjector::loop () {
	/*
	if (_running) {
		if (_takeup.distanceToGo() == 0 && _feed.distanceToGo() == 0) {
			//frame done
			_running = false;
			_posTakeup += _dir ? _stepsPerFrame : -_stepsPerFrame;
			_posFeed += _dir ? _stepsPerFrame : -_stepsPerFrame;
			Serial.println(_count);
		} else {
			_takeup.run();
    		_feed.run();
    		_count++;
		}
	} else if (_adjusting) {
		if (_takeup.distanceToGo() == 0 && _feed.distanceToGo() == 0) {
			//adjustment done
			_adjusting = false;
		} else {
			_takeup.run();
    		_feed.run();
		}
	}
	*/
}

//https://wiki.iteadstudio.com/Arduino_Dual_Step_Motor_Driver_Shield
void McopyProjector::setStepperMode (uint8_t mode) {
	_mode = mode;
	switch (mode) {
		case 1 :
			digitalWrite(_takeupSettingA, LOW);
			digitalWrite(_takeupSettingB, LOW);
			digitalWrite(_feedSettingA, LOW);
			digitalWrite(_feedSettingB, LOW);
			break;
		case 2 :
			digitalWrite(_takeupSettingA, HIGH);
			digitalWrite(_takeupSettingB, LOW);
			digitalWrite(_feedSettingA, HIGH);
			digitalWrite(_feedSettingB, LOW);
			break;
		case 4 :
			digitalWrite(_takeupSettingA, LOW);
			digitalWrite(_takeupSettingB, HIGH);
			digitalWrite(_feedSettingA, LOW);
			digitalWrite(_feedSettingB, HIGH);
			break;
		case 8 :
			digitalWrite(_takeupSettingA, HIGH);
			digitalWrite(_takeupSettingB, HIGH);
			digitalWrite(_feedSettingA, HIGH);
			digitalWrite(_feedSettingB, HIGH);
			break;
	}
}

void McopyProjector::home () {
	uint16_t steps = _motorSteps * _mode;
	uint16_t quarter = steps / 4;
	uint16_t eighth = quarter / 2;
	uint16_t takeupPeak = 0;
	uint16_t feedPeak = 0;
	uint16_t takeupOffset = 0;
	uint16_t feedOffset = 0;
	long takeupReading = 0.0;
	long feedReading = 0.0;

	emitters(true);
	delay(10);

	for (uint16_t i = 0; i < steps; i++) {
		takeupReading = analogReadAccurateAverage(_takeupReceiver);
		feedReading = analogReadAccurateAverage(_feedReceiver);
		_takeupSamples[i] = takeupReading;
		_feedSamples[i] = feedReading;
		if (i < steps - 1) {
			_takeup.move(1);
			_feed.move(1);
			_takeup.runToPosition();
			_feed.runToPosition();
		}
	}

	for (uint16_t i = 0; i < steps; i++) {
		Serial.print(i);
		Serial.print(", ");
		Serial.print(_takeupSamples[i]);
		Serial.print(", ");
		Serial.println(_feedSamples[i]);
	}

	takeupPeak = findPeak(_takeupSamples, steps);
	feedPeak = findPeak(_feedSamples, steps);
	Serial.print("  takeup peak: ");
	Serial.println(takeupPeak);
	Serial.print("    feed peak: ");
	Serial.println(feedPeak);

	takeupOffset = abs(steps - takeupPeak);
	feedOffset = abs(steps - takeupPeak);

	Serial.print("takeup offset: ");
	Serial.println(takeupOffset);
	Serial.print("  feed offset: ");
	Serial.println(feedOffset);

	if (takeupOffset > 0) {
		for (uint16_t i = 0; i < takeupOffset; i++) {
			_takeup.move(-1);
			_takeup.runToPosition();
		}
	}
	if (feedOffset > 0) {
		for (uint16_t i = 0; i < feedOffset; i++) {
			_feed.move(-1);
			_feed.runToPosition();
		}
	}

	for (uint16_t i = 0; i < eighth; i++) {
		_takeup.move(-1);
		_feed.move(-1);
		_takeup.runToPosition();
		_feed.runToPosition();
	}

	for (uint16_t i = 0; i < quarter; i++) {
		takeupReading = analogReadAccurateAverage(_takeupReceiver);
		feedReading = analogReadAccurateAverage(_feedReceiver);
		_takeupSamples[i] = takeupReading;
		_feedSamples[i] = feedReading;
		if (i < steps - 1) {
			_takeup.move(1);
			_feed.move(1);
			_takeup.runToPosition();
			_feed.runToPosition();
		}
	}

	emitters(false);
	
	takeupPeak = findPeak(_takeupSamples, quarter);
	feedPeak = findPeak(_feedSamples, quarter);
	takeupOffset = abs(quarter - takeupPeak);
	feedOffset = abs(quarter - feedPeak);
	
	if (takeupOffset > 0) {
		for (uint16_t i = 0; i < takeupOffset; i++) {
			_takeup.move(-1);
			_takeup.runToPosition();
		}
	}
	if (feedOffset > 0) {
		for (uint16_t i = 0; i < feedOffset; i++) {
			_feed.move(-1);
			_feed.runToPosition();
		}
	}

	_posTakeup = 0;
	_posFeed = 0;
}

long McopyProjector::readVcc() {
  long result;
  // Read 1.1V reference against AVcc
  ADMUX = _BV(REFS0) | _BV(MUX3) | _BV(MUX2) | _BV(MUX1);
  delay(2); // Wait for Vref to settle
  ADCSRA |= _BV(ADSC); // Convert
  while (bit_is_set(ADCSRA,ADSC));
  result = ADCL;
  result |= ADCH<<8;
  result = 1125300L / result; // Back-calculate AVcc in mV
  return result;
}

long McopyProjector::analogReadAccurate (uint8_t &pin) {
  double Vcc = readVcc() / 1000.0;
  double ADCValue = analogRead(pin);
  return (ADCValue / 1024.0) * Vcc;
}

long McopyProjector::analogReadAccurateAverage (uint8_t &pin) {
  uint8_t count = 3;
  double sum = 0.0;
  for (uint8_t i = 0; i < count; i++) {
    sum += analogReadAccurate(pin);
    delay(1);
  }
  return sum / (double) count;
}

uint16_t McopyProjector::findPeak(long (&arr)[200], uint16_t &steps) {
	uint16_t maxI = 0;
	long max = 0;
	for (uint16_t i = 0; i < steps; i++) {
		if (arr[i] > max) {
			maxI = i;
			max = arr[i];
		}
	}
	return maxI;
}

void McopyProjector::emitters (bool enabled) {
	digitalWrite(_takeupEmitter, enabled ? HIGH : LOW);
	digitalWrite(_feedEmitter, enabled ? HIGH : LOW);
}