McopyProjector lib for mcopy_projector_firmware rewrite in progress.

ino/mcopy_projector_firmware/IteadDualStepperShield.h

@@ -1,7 +1,6 @@
 #ifndef IteadDualStepperShield_h
 #define IteadDualStepperShield_h
 
-
 #include <Arduino.h>
 
 class IteadDualStepperShield {

ino/mcopy_projector_firmware/McopyProjector.cpp

@@ -0,0 +1,61 @@
+/// Mcopy Projector Class
+
+#include "McopyProjector.h"
+#include "IteadDualStepperShield.h"
+
+McopyProjector::McopyProjector () {
+
+}
+
+void McopyProjector::begin () {
+	steppers.setup();
+	steppers.setSpeed(0, _speed);
+	steppers.setSpeed(1, _speed);
+}
+
+void McopyProjector::setDirection (bool dir) {
+	_dir = dir;
+	if (_dir) {
+		steppers.setDir(0, 1);
+    	steppers.setDir(1, 1);
+	} else {
+		steppers.setDir(0, 0);
+    	steppers.setDir(1, 0);
+	}
+}
+
+void McopyProjector::frame (bool dir) {
+	if (dir != _dir) {
+		setDirection(dir);
+	}
+	steppers.stepBoth(_stepsPerFrame);
+	_posTakeup += dir ? _stepsPerFrame : -_stepsPerFrame;
+	_posFeed += dir ? _stepsPerFrame : -_stepsPerFrame;
+}
+
+void McopyProjector::adjust(uint8_t motor, int32_t steps) {
+	if (steps < 0) {
+		steppers.setDir(motor, 0);
+	} else {
+		steppers.setDir(motor, 1);
+	}
+	steppers.step(motor, abs(steps));
+	if (motor == 0) {
+		_posTakeup += steps;
+	} else if (motor == 1) {
+		_posFeed += steps;
+	}
+}
+
+void McopyProjector::adjustBoth(int32_t steps) {
+	if (steps < 0) {
+		steppers.setDir(0, 0);
+		steppers.setDir(1, 0);
+	} else {
+		steppers.setDir(0, 1);
+		steppers.setDir(1, 1);
+	}
+	steppers.stepBoth(abs(steps));
+	_posTakeup += steps;
+	_posFeed += steps;
+}

ino/mcopy_projector_firmware/McopyProjector.h

@@ -0,0 +1,36 @@
+#ifndef MCOPY_PROJECTOR
+#define MCOPY_PROJECTOR
+
+#include <Arduino.h>
+#include "IteadDualStepperShield.h"
+
+class McopyProjector {
+
+	private:
+
+	IteadDualStepperShield steppers;
+
+	uint8_t _motorSteps = 200;
+	uint8_t _frames = 8;
+	uint8_t _stepsPerFrame = round(_motorSteps / _frames);
+	uint16_t _speed = 500;
+
+	int64_t _posTakeup = 0;
+	int64_t _posFeed = 0;
+
+	bool _dir = true;
+
+	public:
+
+	McopyProjector();
+	void begin();
+	//0 = takeup, 1 = feed
+	void adjust(uint8_t motor, int32_t steps);
+	void adjustBoth(int32_t steps);
+	//true = forward, false = back
+	void frame(bool dir);
+	void frames(bool dir, uint32_t count);
+	void setDirection(bool dir);
+};
+
+#endif

ino/mcopy_projector_firmware/mcopy_projector_firmware.ino

@@ -21,10 +21,11 @@
   Y02A - Blue
   Y02B - Red
 */
-
+#include "McopyProjector.h"
 #include "McopySerial.h"
 #include "IteadDualStepperShield.h"
 
+
 //CAMERA CONSTANTS
 const int BUTTON = 7;
 const int LED_FWD = 8;
@@ -41,17 +42,16 @@ volatile bool direction = true;
 volatile long start;
 
 McopySerial mcopy;
-IteadDualStepperShield steppers;
+McopyProjector projector;
 
 void setup () {
-  steppers.setup();
-  steppers.setSpeed(0, 500);
-  steppers.setSpeed(1, 500);
+
 
   pins();
   digitalWrite(LED_FWD, HIGH);
   digitalWrite(LED_BWD, HIGH);
   mcopy.begin(mcopy.PROJECTOR_IDENTIFIER);
+  projector.begin();
   delay(42);
   digitalWrite(LED_FWD, LOW);
   digitalWrite(LED_BWD, LOW);
@@ -62,7 +62,7 @@ void loop () {
   cmdChar = mcopy.loop();
   cmd(cmdChar);
   if (digitalRead(BUTTON) == LOW) {
-    projector();
+    projector_frame();
   }
 }
 
@@ -76,12 +76,12 @@ void pins () {
 }
 
 void cmd (char val) {
-  if (val == mcopy.CAMERA_FORWARD) {
+  if (val == mcopy.PROJECTOR_FORWARD) {
     projector_direction(true);
-  } else if (val == mcopy.CAMERA_BACKWARD) {
+  } else if (val == mcopy.PROJECTOR_BACKWARD) {
     projector_direction(false);
   } else if (val == mcopy.PROJECTOR) {
-    projector();
+    projector_frame();
   } else if (val == mcopy.STATE) {
     state();
   }
@@ -92,13 +92,11 @@ void projector_direction (boolean state) {
   if (state) {
     mcopy.confirm(mcopy.PROJECTOR_FORWARD);
     mcopy.log("projector_direction(true)");
-    steppers.setDir(0, 1);
-    steppers.setDir(1, 1);
+    projector.setDirection(true);
   } else {
     mcopy.confirm(mcopy.PROJECTOR_BACKWARD);
     mcopy.log("projector_direction(false)");
-    steppers.setDir(0, 0);
-    steppers.setDir(1, 0);
+    projector.setDirection(false);
   }
 }
 
@@ -116,10 +114,10 @@ void projector_timing_end () {
   }
 }
 
-void projector () {
+void projector_frame () {
   int LED = direction ? LED_FWD : LED_BWD;
   digitalWrite(LED, HIGH);
-  steppers.stepBoth(PROJECTOR_STEPS);
+  projector.frame(direction);
   mcopy.confirm(mcopy.PROJECTOR);
   digitalWrite(LED, LOW);
 }