Projector firmware progress: currently the homing function will not compile due to errors with reference and so the sketch method needs to be broken into workable smaller methods

app/data/cfg.json

@@ -1,5 +1,5 @@
 {
-  "version": "1.8.34",
+  "version": "1.8.35",
   "ext_port": 1111,
   "profiles": {
     "mcopy": {

app/package-lock.json

@@ -1,6 +1,6 @@
 {
   "name": "mcopy-app",
-  "version": "1.8.34",
+  "version": "1.8.35",
   "lockfileVersion": 2,
   "requires": true,
   "packages": {

app/package.json

@@ -1,6 +1,6 @@
 {
   "name": "mcopy-app",
-  "version": "1.8.34",
+  "version": "1.8.35",
   "description": "GUI for the mcopy small gauge film optical printer platform",
   "main": "main.js",
   "scripts": {

data/cfg.json

@@ -1,5 +1,5 @@
 {
-  "version": "1.8.34",
+  "version": "1.8.35",
   "ext_port": 1111,
   "profiles": {
     "mcopy": {

ino/mcopy_projector_firmware/McopyProjector.cpp

@@ -2,7 +2,11 @@
 
 #include "McopyProjector.h"
 
-McopyProjector::McopyProjector (AccelStepper takeup, AccelStepper feed, uint8_t takeupSettingA, uint8_t takeupSettingB, uint8_t feedSettingA, uint8_t feedSettingB) {
+McopyProjector::McopyProjector (AccelStepper takeup, AccelStepper feed, 
+		uint8_t takeupSettingA, uint8_t takeupSettingB, 
+		uint8_t feedSettingA, uint8_t feedSettingB,
+		uint8_t takeupEmitter, uint8_t takeupReceiver,
+		uint8_t feedEmitter, uint8_t feedReceiver) {
 	_takeup = takeup;
 	_feed = feed;
 
@@ -10,23 +14,32 @@ McopyProjector::McopyProjector (AccelStepper takeup, AccelStepper feed, uint8_t
 	_takeupSettingB = takeupSettingB;
 	_feedSettingA = feedSettingA;
 	_feedSettingB = feedSettingB;
+	_takeupEmitter = takeupEmitter;
+	_takeupReceiver = takeupReceiver;
+	_feedEmitter = feedEmitter;
+	_feedReceiver = feedReceiver;
 }
 
 void McopyProjector::begin () {
-    _takeup.setMaxSpeed(_speed);
+  _takeup.setMaxSpeed(_speed);
-    _takeup.setSpeed(_speed);
+  _takeup.setSpeed(_speed);
-    _takeup.setAcceleration(1000.0);
+  _takeup.setAcceleration(1000.0);
  
-    _feed.setMaxSpeed(_speed);
+  _feed.setMaxSpeed(_speed);
-    _feed.setSpeed(_speed);
+  _feed.setSpeed(_speed);
-    _feed.setAcceleration(1000.0);
+  _feed.setAcceleration(1000.0);
 
-    pinMode(_takeupSettingA, OUTPUT);
+  pinMode(_takeupSettingA, OUTPUT);
 	pinMode(_takeupSettingB, OUTPUT);
 	pinMode(_feedSettingA, OUTPUT);
 	pinMode(_feedSettingB, OUTPUT);
+	pinMode(_takeupEmitter, OUTPUT);
+	pinMode(_feedEmitter, OUTPUT);
+	pinMode(_takeupReceiver, INPUT);
+	pinMode(_feedReceiver, INPUT);
 
-    setStepperMode(1);
+	//keep at 1 for now
+  setStepperMode(1);
 }
 
 void McopyProjector::setDirection (bool dir) {
@@ -53,13 +66,12 @@ void McopyProjector::frame (bool dir) {
 
 	while (running) {
 		if (_takeup.distanceToGo() == 0 && _feed.distanceToGo() == 0) {
-			//frame done
 			running = false;
 			_posTakeup = takeupGoal;
 			_posFeed += feedGoal;
 		} else {
 			_takeup.run();
-    		_feed.run();
+    	_feed.run();
 		}
 	}
 
@@ -95,9 +107,11 @@ void McopyProjector::loop () {
 			_running = false;
 			_posTakeup += _dir ? _stepsPerFrame : -_stepsPerFrame;
 			_posFeed += _dir ? _stepsPerFrame : -_stepsPerFrame;
+			Serial.println(_count);
 		} else {
 			_takeup.run();
     		_feed.run();
+    		_count++;
 		}
 	} else if (_adjusting) {
 		if (_takeup.distanceToGo() == 0 && _feed.distanceToGo() == 0) {
@@ -107,7 +121,8 @@ void McopyProjector::loop () {
 			_takeup.run();
     		_feed.run();
 		}
-	}*/
+	}
+	*/
 }
 
 //https://wiki.iteadstudio.com/Arduino_Dual_Step_Motor_Driver_Shield
@@ -141,6 +156,58 @@ void McopyProjector::setStepperMode (uint8_t mode) {
 	}
 }
 
+void McopyProjector::home () {
+	uint16_t steps = _motorSteps * _mode;
+	long reading;
+	//
+	for (uint16_t i = 0; i < steps; i++) {
+		reading = analogReadAccurateAverage(_takeupReceiver);
+		_takeupSamples[i] = reading;
+		if (i < steps - 1) {
+			_takeup.move(1);
+			_takeup.runToPosition();
+		}
+	}
+	//
+	for (uint16_t i = 0; i < steps; i++) {
+		Serial.print(i);
+		Serial.print(", ");
+		Serial.println(_takeupSamples[i]);
+	}
+	uint16_t peak = findPeak(_takeupSamples, steps);
+	Serial.print("peak: ");
+	Serial.println(peak);
+	uint16_t offset = abs(200 - peak);
+	Serial.print("offset: ");
+	Serial.println(offset);
+	if (offset != 0) {
+		for (uint16_t i = 0; i < offset; i++) {
+			_takeup.move(-1);
+			_takeup.runToPosition();
+		}
+		for (uint16_t i = 0; i < 25; i++) {
+			_takeup.move(-1);
+			_takeup.runToPosition();
+		}
+	}
+	for (uint16_t i = 0; i < 50; i++) {
+		reading = analogReadAccurateAverage(_takeupReceiver);
+		_takeupSamples[i] = reading;
+		if (i < steps - 1) {
+			_takeup.move(1);
+			_takeup.runToPosition();
+		}
+	}
+	uint16_t peak2 = findPeak(_takeupSamples, 50);
+	uint16_t offset2 = abs(50 - peak2);
+	if (offset2 != 0) {
+		for (uint16_t i = 0; i < offset2; i++) {
+			_takeup.move(-1);
+			_takeup.runToPosition();
+		}
+	}
+}
+
 long McopyProjector::readVcc() {
   long result;
   // Read 1.1V reference against AVcc
@@ -154,18 +221,30 @@ long McopyProjector::readVcc() {
   return result;
 }
 
-long McopyProjector::analogReadAccurate (int pin) {
+long McopyProjector::analogReadAccurate (uint8_t &pin) {
   double Vcc = readVcc() / 1000.0;
   double ADCValue = analogRead(pin);
   return (ADCValue / 1024.0) * Vcc;
 }
 
-long McopyProjector::analogReadAccurateAverage (int pin) {
+long McopyProjector::analogReadAccurateAverage (uint8_t &pin) {
-  int count = 3;
+  uint8_t count = 3;
   double sum = 0.0;
-  for (int i = 0; i < count; i++) {
+  for (uint8_t i = 0; i < count; i++) {
     sum += analogReadAccurate(pin);
     delay(1);
   }
   return sum / (double) count;
 }
+
+uint16_t McopyProjector::findPeak(long (&arr)[200], uint16_t &steps) {
+	uint16_t maxI = 0;
+	long max = 0;
+	for (uint16_t i = 0; i < steps; i++) {
+		if (arr[i] > max) {
+			maxI = i;
+			max = arr[i];
+		}
+	}
+	return maxI;
+}

ino/mcopy_projector_firmware/McopyProjector.h

@@ -28,20 +28,30 @@ class McopyProjector {
 	AccelStepper _takeup;
 	AccelStepper _feed;
 
-	uint16_t _motorSteps = 1600; //microstepped
+	const uint16_t _motorSteps = 200; //full steps
-	uint8_t _frames = 8;
+	const uint8_t _frames = 8;
-	uint16_t _stepsPerFrame = 25; //round(_motorSteps / _frames);
+	const uint16_t _stepsPerFrame = 25; //round(_motorSteps / _frames);
-	uint8_t _mode = 1;
+	const float _speed = 2000.0;
-	float _speed = 2000.0;
+
+	volatile uint8_t _mode = 1;
 
 	int64_t _posTakeup = 0;
 	int64_t _posFeed = 0;
+	//X
+	uint8_t _takeupSettingA;
+	uint8_t _takeupSettingB;
+	//Y
+	uint8_t _feedSettingA;
+	uint8_t _feedSettingB;
+	//X
+	uint8_t _takeupEmitter;
+	uint8_t _takeupReceiver;
+	//Y
+	uint8_t _feedEmitter;
+	uint8_t _feedReceiver;
 
-
+	long _feedSamples[200]; 
-	uint8_t _takeupSettingA = 4;
+	long _takeupSamples[200]; 
-	uint8_t _takeupSettingB = 5;
-	uint8_t _feedSettingA = 8;
-	uint8_t _feedSettingB = 9;
 
 	bool _dir = true;
 
@@ -49,12 +59,17 @@ class McopyProjector {
 	bool _adjusting = false;
 
 	long readVcc();
-	long analogReadAccurate (int pin);
+	long analogReadAccurate (uint8_t &pin);
-	long analogReadAccurateAverage (int pin);
+	long analogReadAccurateAverage (uint8_t &pin);
+	uint16_t findPeak(long (&arr)[200], uint16_t &steps);
 
 	public:
 
-	McopyProjector(AccelStepper takeup, AccelStepper feed,  uint8_t takeupSettingA, uint8_t takeupSettingB, uint8_t feedSettingA, uint8_t feedSettingB);
+	McopyProjector(AccelStepper takeup, AccelStepper feed,  
+		uint8_t takeupSettingA, uint8_t takeupSettingB, 
+		uint8_t feedSettingA, uint8_t feedSettingB,
+		uint8_t takeupEmitter, uint8_t takeupReceiver,
+		uint8_t feedEmitter, uint8_t feedReceiver);
 	void begin();
 	//0 = takeup, 1 = feed
 	void adjust(uint8_t motor, int64_t steps);
@@ -65,6 +80,8 @@ class McopyProjector {
 	void setStepperMode(uint8_t mode);
 	void loop();
 	void home();
+	void firstPass();
+	void centerPass();
 
 };
 

ino/mcopy_projector_firmware/mcopy_projector_firmware.ino

@@ -46,12 +46,11 @@ AccelStepper takeup(AccelStepper::DRIVER, TAKEUP_STEP_PIN, TAKEUP_DIR_PIN);
 AccelStepper feed(AccelStepper::DRIVER, FEED_STEP_PIN, FEED_DIR_PIN);
 
 //CAMERA CONSTANTS
-const int BUTTON = 7;
+const int BUTTON = 19;
-const int LED_FWD = 8;
+const int LED_FWD = 20;
-const int LED_BWD = 9;
+const int LED_BWD = 21;
 
 const int PROJECTOR_MOMENT = 240;
-const int PROJECTOR_STEPS = 25;
 
 //VARIABLES
 volatile int projectorFrame = -1;
@@ -61,7 +60,11 @@ volatile bool direction = true;
 volatile long start;
 
 McopySerial mcopy;
-McopyProjector projector(takeup, feed, TAKEUP_SETTINGS_A, TAKEUP_SETTINGS_B, FEED_SETTINGS_A, FEED_SETTINGS_B);
+McopyProjector projector(takeup, feed, 
+  TAKEUP_SETTINGS_A, TAKEUP_SETTINGS_B, 
+  FEED_SETTINGS_A, FEED_SETTINGS_B,
+  TAKEUP_EMITTER, TAKEUP_RECEIVER,
+  FEED_EMITTER, FEED_RECEIVER);
 
 void setup () {
   pins();
@@ -72,6 +75,7 @@ void setup () {
   delay(42);
   digitalWrite(LED_FWD, LOW);
   digitalWrite(LED_BWD, LOW);
+  projector.home();
 }
 
 void loop () {
@@ -81,7 +85,7 @@ void loop () {
   if (digitalRead(BUTTON) == LOW) {
     projector_frame();
   }
-  //projector.loop();
+  projector.loop();
 }
 
 void pins () {
@@ -134,6 +138,7 @@ void projector_timing_end () {
 
 void projector_frame () {
   int LED = direction ? LED_FWD : LED_BWD;
+  mcopy.log("projector_direction(false)");
   digitalWrite(LED, HIGH);
   projector.frame(direction);
   mcopy.confirm(mcopy.PROJECTOR);
@@ -146,7 +151,7 @@ void state () {
   stateString += String(mcopy.STATE);
   mcopy.print(stateString);
 }
-
+/*
 long readVcc() {
   long result;
   // Read 1.1V reference against AVcc
@@ -175,3 +180,4 @@ long analogReadAccurateAverage (int pin) {
   }
   return sum / (double) count;
 }
+*/

package-lock.json

@@ -1,12 +1,12 @@
 {
   "name": "mcopy",
-  "version": "1.8.34",
+  "version": "1.8.35",
   "lockfileVersion": 2,
   "requires": true,
   "packages": {
     "": {
       "name": "mcopy",
-      "version": "1.8.34",
+      "version": "1.8.35",
       "license": "MIT",
       "dependencies": {
         "arduino": "file:app/lib/arduino",

package.json

@@ -1,6 +1,6 @@
 {
   "name": "mcopy",
-  "version": "1.8.34",
+  "version": "1.8.35",
   "description": "Small gauge film optical printer platform",
   "main": "build.js",
   "directories": {

processing/mcopy/cfg.json

@@ -1,5 +1,5 @@
 {
-  "version": "1.8.34",
+  "version": "1.8.35",
   "ext_port": 1111,
   "profiles": {
     "mcopy": {