Mcopy camera firmware

ino/mcopy_cam_firmware/mcopy_cam_firmware.ino

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+/*
+  Wiring
+  
+  CAMERA + CAMERA_DIR
+  Wire directly to corresponding relay pins.
+  Arduino  2   3
+  Relay    1   2
+*/
+
+boolean debug_state = false;
+
+//unsigned long now; //to be compared to stored values every loop
+
+//CAMERA CONSTANTS
+const int CAMERA = 2;
+const int CAMERA_DIR = 3;
+
+const int CAMERA_MOMENT = 240;
+const int CAMERA_FRAME = 600;
+//CAMERA VARIABLES
+boolean cam_dir = true; 
+
+//CAMERA COMMANDS
+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';
+
+const int serialDelay = 5;
+
+void setup () {
+  Serial.begin(57600);
+  Serial.flush();
+  //Serial.setTimeout(serialDelay);
+
+  pins();
+}
+
+void loop () {
+  //now = millis();
+  if (Serial.available()) {
+    /* read the most recent byte */
+    cmd_char = (char)Serial.read();
+  }
+  if (cmd_char != 'z') {
+    cmd(cmd_char);
+    cmd_char = 'z';
+  }
+}
+
+void pins () {
+  //RELAYS
+  pinMode(CAMERA, OUTPUT);
+
+  pinMode(CAMERA_DIR, OUTPUT);
+
+  //SET LOW
+  digitalWrite(CAMERA, HIGH);
+  
+  digitalWrite(CAMERA_DIR, HIGH);
+
+}
+
+void cmd (char val) {
+  if (val == cmd_debug) {
+    debug();
+  } else if (val == cmd_connect) {
+    connect();
+  } else if (val == cmd_mcopy_identifier) {
+    identify();
+  } else if (val == cmd_cam_forward) {
+    cam_direction(true); //explicit
+  } else if (val == cmd_cam_backward) {
+    cam_direction(false);
+  } else if (val == cmd_camera) {
+    cam_start();
+  }
+}
+
+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 setDir (int pin, boolean dir) {
+  if (!dir) {
+    digitalWrite(pin, LOW);
+  } else {
+    digitalWrite(pin, HIGH);
+  }
+}
+
+void cam_start () {
+  digitalWrite(CAMERA, LOW);
+  delay(CAMERA_MOMENT);
+  digitalWrite(CAMERA, HIGH);
+  delay(CAMERA_FRAME - CAMERA_MOMENT);
+  cam_stop();
+}
+
+void cam_stop () {
+  Serial.println(cmd_camera);
+  log("camera()");
+}
+
+
+void cam_direction (boolean state) {
+  cam_dir = state;
+  if (state) {
+    digitalWrite(CAMERA_DIR, LOW);
+    Serial.println(cmd_cam_forward);
+    log("cam_direction -> true");
+  } else {
+    digitalWrite(CAMERA_DIR, HIGH);
+    Serial.println(cmd_cam_backward);
+    log("cam_direction -> false");
+  }
+}
+
+void log (String msg) {
+  if (debug_state) {
+    Serial.println(msg);
+  }
+}