mcopy/ino/components/mcopy_camera/mcopy_camera.ino

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Arduino
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boolean debug_state = false;
/*
----------------------------------------------------
Microswitch (use INPUT_PULLUP!!)
GND-----\ | \-----PIN
----------------------------------------------------
*/
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const int FAST_PWM = 255;
const int SLOW_PWM = 127;
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/* ------------------------------------------------
* 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
volatile boolean running = false;
volatile boolean cam_dir = true;
volatile int micro_position = 0;
volatile boolean micro_primed = false;
unsigned long timer = 0;
unsigned long frame_start = 0;
unsigned long delay_start = 0;
volatile int fwd_speed = FAST_PWM;
volatile int bwd_speed = FAST_PWM;
volatile long seq_delay = 42;
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const char cmd_camera = 'c';
const char cmd_cam_forward = 'e';
const char cmd_cam_backward = 'f';
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';
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const int serialDelay = 5;
void setup() {
Serial.begin(57600);
Serial.flush();
Serial.setTimeout(serialDelay);
Pins_init();
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}
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();
if (running) {
Read_micro();
}
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}
void cmd (char val) {
if (val == cmd_debug) {
debug();
} else if (val == cmd_connect) {
connect();
} else if (val == cmd_mcopy_identifier) {
identify();
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} else if (val == cmd_camera) {
Frame();
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} else if (val == cmd_cam_forward) {
cam_direction(true); //explicit
} else if (val == cmd_cam_backward) {
cam_direction(false);
}
}
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()");
}
void Pins_init () {
pinMode(PIN_MOTOR_FORWARD, OUTPUT);
pinMode(PIN_MOTOR_BACKWARD, OUTPUT);
pinMode(PIN_MICRO, INPUT_PULLUP);
pinMode(PIN_INDICATOR, OUTPUT);
}
void Frame () {
frame_start = millis();
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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;
}
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} else {
if (timer - frame_start >= 600) {
return true;
}
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}
return false;
}
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;
Serial.println(cmd_cam_backward);
log("Frame completed");
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}
void cam_direction (boolean state) {
cam_dir = state;
if (state) {
Serial.println(cmd_cam_forward);
log("cam_direction -> true");
} else {
Serial.println(cmd_cam_backward);
log("cam_direction -> false");
}
}
void log (String msg) {
if (debug_state) {
Serial.println(msg);
}
}