diff --git a/ino/mcopy_camera_tests/mcopy_camera_tests.ino b/ino/mcopy_camera_tests/mcopy_camera_tests.ino index 7e5323e..44d60da 100644 --- a/ino/mcopy_camera_tests/mcopy_camera_tests.ino +++ b/ino/mcopy_camera_tests/mcopy_camera_tests.ino @@ -1,5 +1,8 @@ boolean debug_state = false; +//Buttons are optional +//Can be controlled via serial +//Exposure controls assumes use of a 120RPM motor /* ---------------------------------------------------- Microswitch (use INPUT_PULLUP!!) @@ -18,9 +21,27 @@ 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; @@ -29,14 +50,27 @@ 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'; @@ -47,11 +81,9 @@ const char cmd_cam_identifier = 'k'; const int serialDelay = 5; void setup() { - Serial.begin(57600); - Serial.flush(); - Serial.setTimeout(serialDelay); - + Serial_init(); Pins_init(); + Buttons_init(); } void loop() { @@ -64,9 +96,23 @@ void loop() { cmd_char = 'z'; } timer = millis(); - + Btn(0); + Btn(1); + Btn(2); + Btn(3); + if (sequence && delaying) { + Watch_delay(); + } + if (running) { - Read_micro(); + if (timed) { + Read_timed(); + } else { + Read_micro(); + } + } + if (!running && !sequence && !delaying){ + delay(LOOP_DELAY); } } @@ -83,6 +129,8 @@ void cmd (char val) { cam_direction(true); //explicit } else if (val == cmd_cam_backward) { cam_direction(false); + } else if (val == cmd_timed) { + timedString(); } } @@ -102,6 +150,32 @@ void identify () { 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 - 600; + 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); @@ -109,6 +183,96 @@ void Pins_init () { 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) { @@ -135,6 +299,48 @@ boolean Read_delay () { 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); @@ -157,17 +363,29 @@ void Stop () { running = false; micro_primed = false; - Serial.println(cmd_cam_backward); + 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(timer - frame_start)); + 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"); }