Merged mcopy_camera.ino into test firmware

Also added optional log() function to print out time that the frame
took, in ms for profiling.
This commit is contained in:
Matt 2016-05-12 23:12:00 -04:00
parent 1a116261a6
commit 5f2dbd77b7
1 changed files with 90 additions and 21 deletions

View File

@ -1,29 +1,57 @@
boolean debug_state = false;
/*const int cam_pin = 4; //relay 8
const int cam_time = {{cam.time}};
const int cam_delay = {{cam.delay}};
const int cam_momentary = {{cam.momentary}};
/*
----------------------------------------------------
Microswitch (use INPUT_PULLUP!!)
GND-----\ | \-----PIN
----------------------------------------------------
*/
const int cam_dir_1 = 6; //relay 7*/
const int FAST_PWM = 255;
const int SLOW_PWM = 127;
boolean cam_dir = true; //camera defaults to forward
/* ------------------------------------------------
* 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;
const char cmd_camera = 'c';
const char cmd_cam_forward = 'e';
const char cmd_cam_backward = 'f';
const char cmd_mcopy_identifier = 'm';
const char cmd_cam_identifier = 'k';
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';
const int serialDelay = 5;
void setup() {
Serial.begin(57600);
Serial.flush();
Serial.setTimeout(serialDelay);
Pins_init();
}
void loop() {
@ -35,6 +63,11 @@ void loop() {
cmd(cmd_char);
cmd_char = 'z';
}
timer = millis();
if (running) {
Read_micro();
}
}
void cmd (char val) {
@ -45,7 +78,7 @@ void cmd (char val) {
} else if (val == cmd_mcopy_identifier) {
identify();
} else if (val == cmd_camera) {
camera();
Frame();
} else if (val == cmd_cam_forward) {
cam_direction(true); //explicit
} else if (val == cmd_cam_backward) {
@ -69,11 +102,15 @@ void identify () {
log("identify()");
}
void camera () {
/* FROM INTVAL
* WILL USE OPTICAL ENDSTOP
* Time_start();
cam_dir = dir;
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();
if (cam_dir) {
analogWrite(PIN_MOTOR_FORWARD, fwd_speed);
analogWrite(PIN_MOTOR_BACKWARD, 0);
@ -82,15 +119,47 @@ void camera () {
analogWrite(PIN_MOTOR_FORWARD, 0);
}
running = true;
if (fwd_speed == 255) {
delay(300);
} else {
delay(600);
micro_primed = false;
}
boolean Read_delay () {
if (fwd_speed == FAST_PWM) {
if (timer - frame_start >= 300) {
return true;
}
micro_primed = false;*/
delay(750); //TEMPORARY DELAY FOR TESTING TIMING
Serial.println(cmd_camera);
log("camera()");
} else {
if (timer - frame_start >= 600) {
return true;
}
}
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");
log(String(timer - frame_start));
}
void cam_direction (boolean state) {