Add bones of the dual stepper motor, JK compatible projector firmware.

ino/mcopy_projector_firmware/IteadDualStepperShield.cpp

@@ -0,0 +1,81 @@
+
+#include "IteadDualStepperShield.h"
+
+IteadDualStepperShield::IteadDualStepperShield () {}
+
+void IteadDualStepperShield::setup () {
+	pinMode(_directionA, OUTPUT);
+	pinMode(_directionB, OUTPUT);
+	pinMode(_stepA, OUTPUT);
+	pinMode(_stepB, OUTPUT);
+	setDir(0, 1);
+	setDir(1, 1);
+}
+
+void IteadDualStepperShield::setDir (uint8_t motor, uint8_t dir) {
+	if (motor == 0) {
+		directionA = dir;
+		digitalWrite(_directionA, directionA > 0 ? HIGH : LOW);
+	} else if (motor == 1) {
+		directionB = dir;
+		digitalWrite(_directionB, directionB  > 0 ? HIGH : LOW);
+	}
+}
+
+void IteadDualStepperShield::setSpeed (uint8_t motor, uint16_t rpm) {
+	uint32_t usPerStep = 60000000 / ((uint32_t) revsteps * (uint32_t) rpm);
+	if (motor == 0) {
+		_usStepA = usPerStep;
+	} else if (motor == 1) {
+		_usStepB = usPerStep;
+	}
+}
+
+void IteadDualStepperShield::_micro (uint8_t motor) {
+	uint8_t stepPin = motor == 0 ? _stepA : _stepB;
+	uint32_t usStep = motor == 0 ? _usStepA : _usStepB;
+	digitalWrite(stepPin, HIGH);
+	delayMicroseconds(usStep);
+	digitalWrite(stepPin, LOW);
+	delayMicroseconds(usStep);
+}
+
+//full
+void IteadDualStepperShield::_single (uint8_t motor) {
+	uint8_t stepPin = motor == 0 ? _stepA : _stepB;
+	uint32_t usStep = motor == 0 ? _usStepA : _usStepB;
+	for (uint8_t i = 0; i < _microsteps; i++) {
+		digitalWrite(stepPin, HIGH);
+		delayMicroseconds(usStep);
+		digitalWrite(stepPin, LOW);
+		delayMicroseconds(usStep);
+	}
+}
+void IteadDualStepperShield::_both () {
+	for (uint8_t i = 0; i < _microsteps; i++) {
+		digitalWrite(_stepA, HIGH);
+		digitalWrite(_stepB, HIGH);
+		delayMicroseconds(_usStepA);
+		digitalWrite(_stepA, LOW);
+		digitalWrite(_stepB, LOW);
+		delayMicroseconds(_usStepA);
+	}
+}
+void IteadDualStepperShield::step (uint8_t motor, uint16_t steps, uint8_t dir) {
+	uint8_t stepPin = motor == 0 ? _stepA : _stepB;
+	setDir(motor, dir);
+	for (int i = 0; i < steps; i++) {
+		_single(stepPin);
+	}
+}
+void IteadDualStepperShield::onestep (uint8_t motor, uint8_t dir) {
+	uint8_t stepPin = motor == 0 ? _stepA : _stepB;
+	setDir(motor, dir);
+	_single(stepPin);
+}
+
+void IteadDualStepperShield::stepBoth (uint16_t steps) {
+	for (int i = 0; i < steps; i++) {
+		_both();
+	}
+}

ino/mcopy_projector_firmware/IteadDualStepperShield.h

@@ -0,0 +1,42 @@
+#ifndef IteadDualStepperShield_h
+#define IteadDualStepperShield_h
+
+
+#include <Arduino.h>
+
+class IteadDualStepperShield {
+  private:
+  const uint8_t _microsteps = 8;   //8 or 16
+  const uint8_t _directionA = 3;
+  const uint8_t _directionB = 7;
+  const uint8_t _stepA = 2;
+  const uint8_t _stepB = 6;
+
+  void _single(uint8_t motor);
+  void _micro(uint8_t motor);
+  void _both();
+
+  uint32_t _usStepA = 300;
+  uint32_t _usStepB = 300;
+
+  public:
+  IteadDualStepperShield();
+
+  uint16_t revsteps = 200; // # steps per revolution
+
+  volatile uint8_t directionA = 1;
+  volatile uint8_t directionB = 1;
+  void setup();
+
+  void setDir(uint8_t motor, uint8_t dir);
+  void setSpeed(uint8_t motor, uint16_t speed);
+
+  //full
+  void step(uint8_t motor, uint16_t steps, uint8_t dir);
+  void stepBoth(uint16_t steps);
+  void onestep(uint8_t motor, uint8_t dir);
+
+  void release();
+};
+
+#endif

ino/mcopy_projector_firmware/McopySerial.cpp

@@ -0,0 +1,70 @@
+/// mcopy Serial Library
+
+#include "McopySerial.h" 
+
+McopySerial::McopySerial () {}
+
+void McopySerial::begin (char identity) {
+	id = identity;
+	Serial.begin(baud);
+	Serial.flush();
+	Serial.setTimeout(serialDelay);
+}
+
+char McopySerial::loop () {
+	if (Serial.available()) {
+		cmdChar = (char) Serial.read();
+		_internal();
+	} else {
+		cmdChar = 'z';
+	}
+	return cmdChar;
+}
+
+void McopySerial::_internal () {
+	if (cmdChar == DEBUG) {
+		debug(!debugOn);
+	} else if (cmdChar == CONNECT) {
+		_connect();
+	} else if (cmdChar == MCOPY_IDENTIFIER) {
+		_identify();
+	}
+}
+
+void McopySerial::_connect () {
+  connected = true;
+  Serial.println(CONNECT);
+  log("connect()");
+}
+
+void McopySerial::_identify () {
+  identified = true;
+  Serial.println(id);
+  log("identify()");  
+}
+
+void McopySerial::debug (bool state) {
+	debugOn = state;
+	log("debug()");
+}
+
+void McopySerial::confirm (char cmd) {
+	Serial.println(cmd);
+}
+
+void McopySerial::log (String message) {
+	if (debugOn) {
+		Serial.println(message);
+	}
+}
+
+String McopySerial::getString () {
+  while (Serial.available() == 0) {             
+    //Wait for value string
+  }
+  return Serial.readString();
+}
+
+void McopySerial::print (String message) {
+	Serial.println(message);
+}

ino/mcopy_projector_firmware/McopySerial.h

@@ -0,0 +1,86 @@
+#ifndef MCOPY_SERIAL
+#define MCOPY_SERIAL
+
+#include <Arduino.h>
+
+class McopySerial {           
+
+	private:
+
+	const uint16_t serialDelay = 5;
+	const uint16_t baud = 57600;
+
+	volatile bool debugOn = false;
+	volatile char cmdChar = 'z';
+	volatile char id;
+
+	void _internal ();
+	void _connect ();
+	void _identify ();
+
+	public:
+
+	volatile bool connected = false;
+	volatile bool identified = false;
+
+	/* CMD FLAGS */
+	const char BLACK = 'b';
+	const char CAMERA = 'c';
+	const char CAMERA_BACKWARD = 'f';
+	const char CAMERA_CAPPER_IDENTIFIER = '8';
+	const char CAMERA_CAPPER_PROJECTOR_IDENTIFIER = '9';
+	const char CAMERA_CAPPER_PROJECTORS_IDENTIFIER = '0';
+	const char CAMERA_EXPOSURE = 'G';
+	const char CAMERA_FORWARD = 'e';
+	const char CAMERA_IDENTIFIER = 'k';
+	const char CAMERA_PROJECTORS_IDENTIFIER = '5';
+	const char CAMERA_SECOND = '3';
+	const char CAMERA_SECOND_BACKWARD = '2';
+	const char CAMERA_SECOND_FORWARD = '1';
+	const char CAMERA_SECOND_IDENTIFIER = 'y';
+	const char CAMERA_TIMED = 'n';
+	const char CAMERAS = '4';
+	const char CAMERAS_IDENTIFIER = 'a';
+	const char CAMERAS_PROJECTOR_IDENTIFIER = '6';
+	const char CAMERAS_PROJECTORS_IDENTIFIER = '7';
+	const char CAPPER_IDENTIFIER = 'C';
+	const char CAPPER_OFF = 'B';
+	const char CAPPER_ON = 'A';
+	const char CONNECT = 'i';
+	const char DEBUG = 'd';
+	const char ERROR = 'E';
+	const char LIGHT = 'l';
+	const char LIGHT_IDENTIFIER = 'o';
+	const char MCOPY_IDENTIFIER = 'm';
+	const char PROJECTOR = 'p';
+	const char PROJECTOR_BACKWARD = 'h';
+	const char PROJECTOR_CAMERA_IDENTIFIER = 's';
+	const char PROJECTOR_CAMERA_LIGHT_IDENTIFIER = 'r';
+	const char PROJECTOR_FORWARD = 'g';
+	const char PROJECTOR_IDENTIFIER = 'j';
+	const char PROJECTOR_LIGHT_IDENTIFIER = 'q';
+	const char PROJECTOR_SECOND = 'w';
+	const char PROJECTOR_SECOND_BACKWARD = 'v';
+	const char PROJECTOR_SECOND_FORWARD = 'u';
+	const char PROJECTOR_SECOND_IDENTIFIER = 't';
+	const char PROJECTORS = 'x';
+	const char PROJECTORS_IDENTIFIER = 'd';
+	const char STATE = 'H';
+	const char TAKEUP_BACKWARD = 'F';
+	const char TAKEUP_FORWARD = 'D';
+	/* END CMD FLAGS */
+
+	McopySerial();
+
+	void begin(char identity);
+	char loop();
+	void confirm(char cmd);
+	String getString();
+	void print(String message);
+
+	void debug (bool state);
+	void log (String message);
+
+};
+
+#endif

ino/mcopy_projector_firmware/mcopy_projector_firmware.ino

@@ -0,0 +1,132 @@
+/*
+
+  JK-compatible projector element
+
+  Hardware
+
+  Arduino Uno
+  Itead Dual Stepper Shield
+  2x NEMA17 Stepper Motors
+
+  Wiring
+  
+  (Will vary from motor to motor)
+  X01A - Green
+  X01B - Black
+  X02A - Blue
+  X02B - Red
+
+  Y01A - Green
+  Y01B - Black
+  Y02A - Blue
+  Y02B - Red
+*/
+
+#include "McopySerial.h"
+#include "IteadDualStepperShield.h"
+
+//CAMERA CONSTANTS
+const int BUTTON = 7;
+const int LED_FWD = 8;
+const int LED_BWD = 9;
+
+const int PROJECTOR_MOMENT = 240;
+const int PROJECTOR_STEPS = 25;
+
+//VARIABLES
+volatile int projectorFrame = -1;
+volatile char cmdChar = 'z';
+volatile long now;
+volatile bool direction = true;
+volatile long start;
+
+McopySerial mcopy;
+IteadDualStepperShield steppers;
+
+void setup () {
+  steppers.setup();
+  steppers.setSpeed(0, 2000);
+  steppers.setSpeed(1, 2000);
+
+  pins();
+  digitalWrite(LED_FWD, HIGH);
+  digitalWrite(LED_BWD, HIGH);
+  mcopy.begin(mcopy.PROJECTOR_IDENTIFIER);
+  delay(42);
+  digitalWrite(LED_FWD, LOW);
+  digitalWrite(LED_BWD, LOW);
+}
+
+void loop () {
+  now = millis();
+  cmdChar = mcopy.loop();
+  cmd(cmdChar);
+  if (digitalRead(BUTTON) == LOW) {
+    projector();
+  }
+}
+
+void pins () {
+  pinMode(LED_FWD, OUTPUT);
+  pinMode(LED_BWD, OUTPUT);
+  pinMode(BUTTON, INPUT_PULLUP);
+
+  digitalWrite(LED_FWD, LOW);
+  digitalWrite(LED_BWD, LOW);
+}
+
+void cmd (char val) {
+  if (val == mcopy.CAMERA_FORWARD) {
+    projector_direction(true);
+  } else if (val == mcopy.CAMERA_BACKWARD) {
+    projector_direction(false);
+  } else if (val == mcopy.PROJECTOR) {
+    projector();
+  } else if (val == mcopy.STATE) {
+    state();
+  }
+}
+
+void projector_direction (boolean state) {
+  direction = state;
+  if (state) {
+    mcopy.confirm(mcopy.PROJECTOR_FORWARD);
+    mcopy.log("projector_direction(true)");
+    steppers.setDir(0, 1);
+    steppers.setDir(1, 1);
+  } else {
+    mcopy.confirm(mcopy.PROJECTOR_BACKWARD);
+    mcopy.log("projector_direction(false)");
+    steppers.setDir(0, 0);
+    steppers.setDir(1, 0);
+  }
+}
+
+void projector_timing_start () {
+  start = millis();
+}
+
+void projector_timing_end () {
+  long end = millis();
+  if (projectorFrame == -1) {
+    projectorFrame = (end - start);
+  } else {
+    //rolling mean
+    projectorFrame = (projectorFrame + (end - start) / 2);
+  }
+}
+
+void projector () {
+  int LED = direction ? LED_FWD : LED_BWD;
+  digitalWrite(LED, HIGH);
+  steppers.stepBoth(PROJECTOR_STEPS);
+  mcopy.confirm(mcopy.PROJECTOR);
+  digitalWrite(LED, LOW);
+}
+
+void state () {
+  String stateString = String(mcopy.CAMERA_EXPOSURE);
+  stateString += String(cameraFrame);
+  stateString += String(mcopy.STATE);
+  mcopy.print(stateString);
+}

scripts/ino.sh

@@ -22,6 +22,7 @@ SKETCHES=(
 	mcopy_cam_relay
 	mcopy_JKMM100
 	components/mcopy_light
+	mcopy_projector_firmware
 )
 
 for sketch in "${SKETCHES[@]}"; do