Work on oxberry camera firmware. Basics are there. Will add button features to mitchell.

app/data/cfg.json

@@ -1,5 +1,5 @@
 {
-  "version": "1.8.120",
+  "version": "1.8.121",
   "ext_port": 1111,
   "profiles": {
     "mcopy": {

app/package-lock.json

@@ -1,6 +1,6 @@
 {
   "name": "mcopy-app",
-  "version": "1.8.120",
+  "version": "1.8.121",
   "lockfileVersion": 2,
   "requires": true,
   "packages": {

app/package.json

@@ -1,6 +1,6 @@
 {
   "name": "mcopy-app",
-  "version": "1.8.120",
+  "version": "1.8.121",
   "description": "GUI for the mcopy small gauge film optical printer platform",
   "main": "main.js",
   "scripts": {

data/cfg.json

@@ -1,5 +1,5 @@
 {
-  "version": "1.8.120",
+  "version": "1.8.121",
   "ext_port": 1111,
   "profiles": {
     "mcopy": {

ino/lib/EndstopCameraShield/EndstopCameraShield.cpp

@@ -1,7 +1,12 @@
 #include "EndstopCameraShield.h"
 
-EndstopCameraShield::EndstopCameraShield (uint32_t usPulse, uint8_t microsteps) : motorUsPulse(usPulse), motorMicrosteps(microsteps),   motor(motorEnablePin, motorDirectionPin, motorPulsePin, motorUsPulse, motorMicrosteps) {
+volatile bool EndstopCameraShield::_direction = true; //true = forward, false = backward
+volatile bool EndstopCameraShield::_enabled = false;
+volatile bool EndstopCameraShield::_isClosed = false;
+volatile bool EndstopCameraShield::_isOpened = false;
 
+EndstopCameraShield::EndstopCameraShield (uint32_t usPulse, uint8_t microsteps) : _motorUsPulse(usPulse), _motorMicrosteps(microsteps), _motor(_motorEnablePin, _motorDirectionPin, _motorPulsePin, _motorUsPulse, _motorMicrosteps) {
+	_stepAngle = (double) 360 / ((double) microsteps * (double) 200);
 }
 
 void EndstopCameraShield::loop () {
@@ -9,7 +14,154 @@ void EndstopCameraShield::loop () {
 }
 
 void EndstopCameraShield::setup () {
-	motor.setup();
+	_motor.setup();
-	pinMode(emitterOpenPin, OUTPUT);
+	pinMode(_emitterOpenPin, OUTPUT);
-	pinMode(emitterClosePin, OUTPUT);
+	pinMode(_emitterClosePin, OUTPUT);
+
+	_checkState();
+	_enableMotor();
+}
+
+void EndstopCameraShield::_enableCloseInterrupt() {
+	attachInterrupt(digitalPinToInterrupt(_receiverClosePin), EndstopCameraShield::_handleCloseInterrupt, FALLING);
+}
+
+void EndstopCameraShield::_enableOpenInterrupt() {
+	attachInterrupt(digitalPinToInterrupt(_receiverOpenPin), EndstopCameraShield::_handleOpenInterrupt, FALLING);
+}
+
+void EndstopCameraShield::_enableCloseEmitter() {
+	digitalWrite(_emitterClosePin, HIGH);
+}
+
+void EndstopCameraShield::_enableOpenEmitter() {
+	digitalWrite(_emitterOpenPin, HIGH);
+}
+
+void EndstopCameraShield::_enableMotor() {
+	_enabled = true;
+	_motor.enable();
+}
+
+void EndstopCameraShield::_disableCloseInterrupt() {
+	detachInterrupt(digitalPinToInterrupt(_receiverClosePin));
+}
+
+void EndstopCameraShield::_disableOpenInterrupt() {
+	detachInterrupt(digitalPinToInterrupt(_receiverOpenPin));
+}
+
+void EndstopCameraShield::_disableCloseEmitter() {
+	digitalWrite(_emitterClosePin, LOW);
+}
+
+void EndstopCameraShield::_disableOpenEmitter() {
+	digitalWrite(_emitterOpenPin, LOW);
+}
+
+void EndstopCameraShield::_disableMotor() {
+	_enabled = false;
+	_motor.release();
+}
+
+void EndstopCameraShield::_handleCloseInterrupt() {
+	_isClosed = true;
+}
+
+void EndstopCameraShield::_handleOpenInterrupt() {
+	_isOpened = true;
+}
+
+void EndstopCameraShield::_checkState() {
+	_enableCloseEmitter();
+	_enableOpenEmitter();
+	if (digitalRead(_receiverClosePin) == LOW) {
+		_isClosed = true;
+	} else if (digitalRead(_receiverOpenPin) == LOW) {
+		_isOpened = true;
+	}
+	_disableCloseEmitter();
+	_disableOpenEmitter();
+}
+
+uint32_t EndstopCameraShield::frame() {
+	bool primed = false;
+	bool running = true;
+	uint32_t i = 0;
+	_isClosed = false;
+	_enableMotor();
+
+	while (running) {
+		if (!primed && (double) i * _stepAngle > _ledAngle) {
+			_enableCloseEmitter();
+			_enableCloseInterrupt();
+			primed = true;
+		}
+		if (primed && _isClosed) {
+			running = false;
+		}
+		i++;
+	}
+	_disableCloseInterrupt();
+	_disableCloseEmitter();
+	return i;
+}
+
+uint32_t EndstopCameraShield::toOpen() {
+	bool primed = false;
+	bool running = true;
+	uint32_t i = 0;
+	_isOpened = false;
+	_enableMotor();
+	while (running) {
+		if (!primed && (double) i * _stepAngle > _ledAngle) {
+			_enableOpenEmitter();
+			_enableOpenInterrupt();
+			primed = true;
+		}
+		if (primed && _isOpened) {
+			running = false;
+		}
+		i++;
+	}
+	_disableOpenInterrupt();
+	_disableOpenEmitter();
+	return i;
+}
+
+uint32_t EndstopCameraShield::toClosed() {
+	bool primed = false;
+	bool running = true;
+	uint32_t i = 0;
+	_isClosed = false;
+	_enableMotor();
+	while (running) {
+		if (!primed && (double) i * _stepAngle > _ledAngle) {
+			_enableCloseEmitter();
+			_enableCloseInterrupt();
+			primed = true;
+		}
+		if (primed && _isClosed) {
+			running = false;
+		}
+		i++;
+	}
+	_disableCloseInterrupt();
+	_disableCloseEmitter();
+	return i;
+}
+
+void EndstopCameraShield::setDirection(bool direction) {
+	if (direction != _direction) {
+		_direction = direction;
+		_motor.setDirection(_direction);
+	}
+}
+
+bool EndstopCameraShield::isOpened() {
+	return _isOpened;
+}
+
+bool EndstopCameraShield::isClosed() {
+	return _isClosed;
 }

ino/lib/EndstopCameraShield/EndstopCameraShield.h

@@ -14,19 +14,42 @@
 
 class EndstopCameraShield {
   private:
-  const uint8_t receiverClosePin = 2;
+  const uint8_t _receiverClosePin = 2;
-  const uint8_t receiverOpenPin = 3;
+  const uint8_t _receiverOpenPin = 3;
-  const uint8_t emitterOpenPin = 4;
+  const uint8_t _emitterOpenPin = 4;
-  const uint8_t emitterClosePin = 5;
+  const uint8_t _emitterClosePin = 5;
 
-  const uint8_t motorEnablePin = 6;
+  const uint8_t _motorEnablePin = 6;
-  const uint8_t motorDirectionPin = 7;
+  const uint8_t _motorDirectionPin = 7;
-  const uint8_t motorPulsePin = 8;
+  const uint8_t _motorPulsePin = 8;
 
-  volatile uint32_t motorUsPulse = 300;
+  const double _ledAngle = 7.0;
-  volatile uint8_t motorMicrosteps = 2; //half stepping
   
-  TB6600MotorDriver motor;
+  volatile uint32_t _motorUsPulse = 300;
+  volatile uint8_t _motorMicrosteps = 2; //half stepping
+  volatile double _stepAngle = (double) 360 / ((double) 2 * (double) 200);
+
+  TB6600MotorDriver _motor;
+
+  static volatile bool _direction; //true = forward, false = backward
+  static volatile bool _enabled;
+  static volatile bool _isClosed;
+  static volatile bool _isOpened;
+
+  void _checkState();
+  void _enableCloseInterrupt();
+  void _enableOpenInterrupt();
+  void _enableCloseEmitter();
+  void _enableOpenEmitter();
+  void _enableMotor();
+  void _disableCloseInterrupt();
+  void _disableOpenInterrupt();
+  void _disableCloseEmitter();
+  void _disableOpenEmitter();
+  void _disableMotor();
+
+  static void _handleCloseInterrupt();
+  static void _handleOpenInterrupt();
 
   public:
 
@@ -34,6 +57,12 @@ class EndstopCameraShield {
 
   void setup();
   void loop();
+  uint32_t frame();
+  uint32_t toOpen();
+  uint32_t toClosed();
+  void setDirection(bool direction);
+  bool isOpened();
+  bool isClosed();
 };
 
 #endif

ino/mcopy_mitchell_camera/EndstopCameraShield.cpp

@@ -1,7 +1,12 @@
 #include "EndstopCameraShield.h"
 
-EndstopCameraShield::EndstopCameraShield (uint32_t usPulse, uint8_t microsteps) : motorUsPulse(usPulse), motorMicrosteps(microsteps),   motor(motorEnablePin, motorDirectionPin, motorPulsePin, motorUsPulse, motorMicrosteps) {
+volatile bool EndstopCameraShield::_direction = true; //true = forward, false = backward
+volatile bool EndstopCameraShield::_enabled = false;
+volatile bool EndstopCameraShield::_isClosed = false;
+volatile bool EndstopCameraShield::_isOpened = false;
 
+EndstopCameraShield::EndstopCameraShield (uint32_t usPulse, uint8_t microsteps) : _motorUsPulse(usPulse), _motorMicrosteps(microsteps), _motor(_motorEnablePin, _motorDirectionPin, _motorPulsePin, _motorUsPulse, _motorMicrosteps) {
+	_stepAngle = (double) 360 / ((double) microsteps * (double) 200);
 }
 
 void EndstopCameraShield::loop () {
@@ -9,7 +14,154 @@ void EndstopCameraShield::loop () {
 }
 
 void EndstopCameraShield::setup () {
-	motor.setup();
+	_motor.setup();
-	pinMode(emitterOpenPin, OUTPUT);
+	pinMode(_emitterOpenPin, OUTPUT);
-	pinMode(emitterClosePin, OUTPUT);
+	pinMode(_emitterClosePin, OUTPUT);
+
+	_checkState();
+	_enableMotor();
+}
+
+void EndstopCameraShield::_enableCloseInterrupt() {
+	attachInterrupt(digitalPinToInterrupt(_receiverClosePin), EndstopCameraShield::_handleCloseInterrupt, FALLING);
+}
+
+void EndstopCameraShield::_enableOpenInterrupt() {
+	attachInterrupt(digitalPinToInterrupt(_receiverOpenPin), EndstopCameraShield::_handleOpenInterrupt, FALLING);
+}
+
+void EndstopCameraShield::_enableCloseEmitter() {
+	digitalWrite(_emitterClosePin, HIGH);
+}
+
+void EndstopCameraShield::_enableOpenEmitter() {
+	digitalWrite(_emitterOpenPin, HIGH);
+}
+
+void EndstopCameraShield::_enableMotor() {
+	_enabled = true;
+	_motor.enable();
+}
+
+void EndstopCameraShield::_disableCloseInterrupt() {
+	detachInterrupt(digitalPinToInterrupt(_receiverClosePin));
+}
+
+void EndstopCameraShield::_disableOpenInterrupt() {
+	detachInterrupt(digitalPinToInterrupt(_receiverOpenPin));
+}
+
+void EndstopCameraShield::_disableCloseEmitter() {
+	digitalWrite(_emitterClosePin, LOW);
+}
+
+void EndstopCameraShield::_disableOpenEmitter() {
+	digitalWrite(_emitterOpenPin, LOW);
+}
+
+void EndstopCameraShield::_disableMotor() {
+	_enabled = false;
+	_motor.release();
+}
+
+void EndstopCameraShield::_handleCloseInterrupt() {
+	_isClosed = true;
+}
+
+void EndstopCameraShield::_handleOpenInterrupt() {
+	_isOpened = true;
+}
+
+void EndstopCameraShield::_checkState() {
+	_enableCloseEmitter();
+	_enableOpenEmitter();
+	if (digitalRead(_receiverClosePin) == LOW) {
+		_isClosed = true;
+	} else if (digitalRead(_receiverOpenPin) == LOW) {
+		_isOpened = true;
+	}
+	_disableCloseEmitter();
+	_disableOpenEmitter();
+}
+
+uint32_t EndstopCameraShield::frame() {
+	bool primed = false;
+	bool running = true;
+	uint32_t i = 0;
+	_isClosed = false;
+	_enableMotor();
+
+	while (running) {
+		if (!primed && (double) i * _stepAngle > _ledAngle) {
+			_enableCloseEmitter();
+			_enableCloseInterrupt();
+			primed = true;
+		}
+		if (primed && _isClosed) {
+			running = false;
+		}
+		i++;
+	}
+	_disableCloseInterrupt();
+	_disableCloseEmitter();
+	return i;
+}
+
+uint32_t EndstopCameraShield::toOpen() {
+	bool primed = false;
+	bool running = true;
+	uint32_t i = 0;
+	_isOpened = false;
+	_enableMotor();
+	while (running) {
+		if (!primed && (double) i * _stepAngle > _ledAngle) {
+			_enableOpenEmitter();
+			_enableOpenInterrupt();
+			primed = true;
+		}
+		if (primed && _isOpened) {
+			running = false;
+		}
+		i++;
+	}
+	_disableOpenInterrupt();
+	_disableOpenEmitter();
+	return i;
+}
+
+uint32_t EndstopCameraShield::toClosed() {
+	bool primed = false;
+	bool running = true;
+	uint32_t i = 0;
+	_isClosed = false;
+	_enableMotor();
+	while (running) {
+		if (!primed && (double) i * _stepAngle > _ledAngle) {
+			_enableCloseEmitter();
+			_enableCloseInterrupt();
+			primed = true;
+		}
+		if (primed && _isClosed) {
+			running = false;
+		}
+		i++;
+	}
+	_disableCloseInterrupt();
+	_disableCloseEmitter();
+	return i;
+}
+
+void EndstopCameraShield::setDirection(bool direction) {
+	if (direction != _direction) {
+		_direction = direction;
+		_motor.setDirection(_direction);
+	}
+}
+
+bool EndstopCameraShield::isOpened() {
+	return _isOpened;
+}
+
+bool EndstopCameraShield::isClosed() {
+	return _isClosed;
 }

ino/mcopy_mitchell_camera/EndstopCameraShield.h

@@ -14,19 +14,42 @@
 
 class EndstopCameraShield {
   private:
-  const uint8_t receiverClosePin = 2;
+  const uint8_t _receiverClosePin = 2;
-  const uint8_t receiverOpenPin = 3;
+  const uint8_t _receiverOpenPin = 3;
-  const uint8_t emitterOpenPin = 4;
+  const uint8_t _emitterOpenPin = 4;
-  const uint8_t emitterClosePin = 5;
+  const uint8_t _emitterClosePin = 5;
 
-  const uint8_t motorEnablePin = 6;
+  const uint8_t _motorEnablePin = 6;
-  const uint8_t motorDirectionPin = 7;
+  const uint8_t _motorDirectionPin = 7;
-  const uint8_t motorPulsePin = 8;
+  const uint8_t _motorPulsePin = 8;
 
-  volatile uint32_t motorUsPulse = 300;
+  const double _ledAngle = 7.0;
-  volatile uint8_t motorMicrosteps = 2; //half stepping
   
-  TB6600MotorDriver motor;
+  volatile uint32_t _motorUsPulse = 300;
+  volatile uint8_t _motorMicrosteps = 2; //half stepping
+  volatile double _stepAngle = (double) 360 / ((double) 2 * (double) 200);
+
+  TB6600MotorDriver _motor;
+
+  static volatile bool _direction; //true = forward, false = backward
+  static volatile bool _enabled;
+  static volatile bool _isClosed;
+  static volatile bool _isOpened;
+
+  void _checkState();
+  void _enableCloseInterrupt();
+  void _enableOpenInterrupt();
+  void _enableCloseEmitter();
+  void _enableOpenEmitter();
+  void _enableMotor();
+  void _disableCloseInterrupt();
+  void _disableOpenInterrupt();
+  void _disableCloseEmitter();
+  void _disableOpenEmitter();
+  void _disableMotor();
+
+  static void _handleCloseInterrupt();
+  static void _handleOpenInterrupt();
 
   public:
 
@@ -34,6 +57,12 @@ class EndstopCameraShield {
 
   void setup();
   void loop();
+  uint32_t frame();
+  uint32_t toOpen();
+  uint32_t toClosed();
+  void setDirection(bool direction);
+  bool isOpened();
+  bool isClosed();
 };
 
 #endif

ino/mcopy_mitchell_camera/TB6600MotorDriver.cpp

@@ -23,10 +23,10 @@ void TB6600MotorDriver::setup() {
 	pinMode(_pulsePin, OUTPUT);
 
 	digitalWrite(_directionPin, LOW);
-	digitalWrite(_enablePin, HIGH);
+	digitalWrite(_enablePin, _enabled ? HIGH : LOW);
 }
 
-void TB6600MotorDriver::setDirection(uint8_t direction) {
+void TB6600MotorDriver::setDirection(bool direction) {
 	if (direction != _direction) {
 		_direction = direction;
 		_setDirection();

ino/mcopy_mitchell_camera/TB6600MotorDriver.h

@@ -35,10 +35,9 @@ class TB6600MotorDriver {
   TB6600MotorDriver();
   TB6600MotorDriver(uint8_t enablePin, uint8_t directionPin, uint8_t pulsePin, uint32_t usPulse, uint8_t microsteps);
 
-
   void setup();
 
-  void setDirection(uint8_t direction);
+  void setDirection(bool direction);
   void setSpeed(uint16_t rpm);
 
   //full

ino/mcopy_oxberry_camera/EndstopCameraShield.cpp

@@ -1,7 +1,12 @@
 #include "EndstopCameraShield.h"
 
-EndstopCameraShield::EndstopCameraShield (uint32_t usPulse, uint8_t microsteps) : motorUsPulse(usPulse), motorMicrosteps(microsteps),   motor(motorEnablePin, motorDirectionPin, motorPulsePin, motorUsPulse, motorMicrosteps) {
+volatile bool EndstopCameraShield::_direction = true; //true = forward, false = backward
+volatile bool EndstopCameraShield::_enabled = false;
+volatile bool EndstopCameraShield::_isClosed = false;
+volatile bool EndstopCameraShield::_isOpened = false;
 
+EndstopCameraShield::EndstopCameraShield (uint32_t usPulse, uint8_t microsteps) : _motorUsPulse(usPulse), _motorMicrosteps(microsteps), _motor(_motorEnablePin, _motorDirectionPin, _motorPulsePin, _motorUsPulse, _motorMicrosteps) {
+	_stepAngle = (double) 360 / ((double) microsteps * (double) 200);
 }
 
 void EndstopCameraShield::loop () {
@@ -9,7 +14,154 @@ void EndstopCameraShield::loop () {
 }
 
 void EndstopCameraShield::setup () {
-	motor.setup();
+	_motor.setup();
-	pinMode(emitterOpenPin, OUTPUT);
+	pinMode(_emitterOpenPin, OUTPUT);
-	pinMode(emitterClosePin, OUTPUT);
+	pinMode(_emitterClosePin, OUTPUT);
+
+	_checkState();
+	_enableMotor();
+}
+
+void EndstopCameraShield::_enableCloseInterrupt() {
+	attachInterrupt(digitalPinToInterrupt(_receiverClosePin), EndstopCameraShield::_handleCloseInterrupt, FALLING);
+}
+
+void EndstopCameraShield::_enableOpenInterrupt() {
+	attachInterrupt(digitalPinToInterrupt(_receiverOpenPin), EndstopCameraShield::_handleOpenInterrupt, FALLING);
+}
+
+void EndstopCameraShield::_enableCloseEmitter() {
+	digitalWrite(_emitterClosePin, HIGH);
+}
+
+void EndstopCameraShield::_enableOpenEmitter() {
+	digitalWrite(_emitterOpenPin, HIGH);
+}
+
+void EndstopCameraShield::_enableMotor() {
+	_enabled = true;
+	_motor.enable();
+}
+
+void EndstopCameraShield::_disableCloseInterrupt() {
+	detachInterrupt(digitalPinToInterrupt(_receiverClosePin));
+}
+
+void EndstopCameraShield::_disableOpenInterrupt() {
+	detachInterrupt(digitalPinToInterrupt(_receiverOpenPin));
+}
+
+void EndstopCameraShield::_disableCloseEmitter() {
+	digitalWrite(_emitterClosePin, LOW);
+}
+
+void EndstopCameraShield::_disableOpenEmitter() {
+	digitalWrite(_emitterOpenPin, LOW);
+}
+
+void EndstopCameraShield::_disableMotor() {
+	_enabled = false;
+	_motor.release();
+}
+
+void EndstopCameraShield::_handleCloseInterrupt() {
+	_isClosed = true;
+}
+
+void EndstopCameraShield::_handleOpenInterrupt() {
+	_isOpened = true;
+}
+
+void EndstopCameraShield::_checkState() {
+	_enableCloseEmitter();
+	_enableOpenEmitter();
+	if (digitalRead(_receiverClosePin) == LOW) {
+		_isClosed = true;
+	} else if (digitalRead(_receiverOpenPin) == LOW) {
+		_isOpened = true;
+	}
+	_disableCloseEmitter();
+	_disableOpenEmitter();
+}
+
+uint32_t EndstopCameraShield::frame() {
+	bool primed = false;
+	bool running = true;
+	uint32_t i = 0;
+	_isClosed = false;
+	_enableMotor();
+
+	while (running) {
+		if (!primed && (double) i * _stepAngle > _ledAngle) {
+			_enableCloseEmitter();
+			_enableCloseInterrupt();
+			primed = true;
+		}
+		if (primed && _isClosed) {
+			running = false;
+		}
+		i++;
+	}
+	_disableCloseInterrupt();
+	_disableCloseEmitter();
+	return i;
+}
+
+uint32_t EndstopCameraShield::toOpen() {
+	bool primed = false;
+	bool running = true;
+	uint32_t i = 0;
+	_isOpened = false;
+	_enableMotor();
+	while (running) {
+		if (!primed && (double) i * _stepAngle > _ledAngle) {
+			_enableOpenEmitter();
+			_enableOpenInterrupt();
+			primed = true;
+		}
+		if (primed && _isOpened) {
+			running = false;
+		}
+		i++;
+	}
+	_disableOpenInterrupt();
+	_disableOpenEmitter();
+	return i;
+}
+
+uint32_t EndstopCameraShield::toClosed() {
+	bool primed = false;
+	bool running = true;
+	uint32_t i = 0;
+	_isClosed = false;
+	_enableMotor();
+	while (running) {
+		if (!primed && (double) i * _stepAngle > _ledAngle) {
+			_enableCloseEmitter();
+			_enableCloseInterrupt();
+			primed = true;
+		}
+		if (primed && _isClosed) {
+			running = false;
+		}
+		i++;
+	}
+	_disableCloseInterrupt();
+	_disableCloseEmitter();
+	return i;
+}
+
+void EndstopCameraShield::setDirection(bool direction) {
+	if (direction != _direction) {
+		_direction = direction;
+		_motor.setDirection(_direction);
+	}
+}
+
+bool EndstopCameraShield::isOpened() {
+	return _isOpened;
+}
+
+bool EndstopCameraShield::isClosed() {
+	return _isClosed;
 }

ino/mcopy_oxberry_camera/EndstopCameraShield.h

@@ -14,19 +14,42 @@
 
 class EndstopCameraShield {
   private:
-  const uint8_t receiverClosePin = 2;
+  const uint8_t _receiverClosePin = 2;
-  const uint8_t receiverOpenPin = 3;
+  const uint8_t _receiverOpenPin = 3;
-  const uint8_t emitterOpenPin = 4;
+  const uint8_t _emitterOpenPin = 4;
-  const uint8_t emitterClosePin = 5;
+  const uint8_t _emitterClosePin = 5;
 
-  const uint8_t motorEnablePin = 6;
+  const uint8_t _motorEnablePin = 6;
-  const uint8_t motorDirectionPin = 7;
+  const uint8_t _motorDirectionPin = 7;
-  const uint8_t motorPulsePin = 8;
+  const uint8_t _motorPulsePin = 8;
 
-  volatile uint32_t motorUsPulse = 300;
+  const double _ledAngle = 7.0;
-  volatile uint8_t motorMicrosteps = 2; //half stepping
   
-  TB6600MotorDriver motor;
+  volatile uint32_t _motorUsPulse = 300;
+  volatile uint8_t _motorMicrosteps = 2; //half stepping
+  volatile double _stepAngle = (double) 360 / ((double) 2 * (double) 200);
+
+  TB6600MotorDriver _motor;
+
+  static volatile bool _direction; //true = forward, false = backward
+  static volatile bool _enabled;
+  static volatile bool _isClosed;
+  static volatile bool _isOpened;
+
+  void _checkState();
+  void _enableCloseInterrupt();
+  void _enableOpenInterrupt();
+  void _enableCloseEmitter();
+  void _enableOpenEmitter();
+  void _enableMotor();
+  void _disableCloseInterrupt();
+  void _disableOpenInterrupt();
+  void _disableCloseEmitter();
+  void _disableOpenEmitter();
+  void _disableMotor();
+
+  static void _handleCloseInterrupt();
+  static void _handleOpenInterrupt();
 
   public:
 
@@ -34,6 +57,12 @@ class EndstopCameraShield {
 
   void setup();
   void loop();
+  uint32_t frame();
+  uint32_t toOpen();
+  uint32_t toClosed();
+  void setDirection(bool direction);
+  bool isOpened();
+  bool isClosed();
 };
 
 #endif

ino/mcopy_oxberry_camera/TB6600MotorDriver.cpp

@@ -23,10 +23,10 @@ void TB6600MotorDriver::setup() {
 	pinMode(_pulsePin, OUTPUT);
 
 	digitalWrite(_directionPin, LOW);
-	digitalWrite(_enablePin, HIGH);
+	digitalWrite(_enablePin, _enabled ? HIGH : LOW);
 }
 
-void TB6600MotorDriver::setDirection(uint8_t direction) {
+void TB6600MotorDriver::setDirection(bool direction) {
 	if (direction != _direction) {
 		_direction = direction;
 		_setDirection();

ino/mcopy_oxberry_camera/TB6600MotorDriver.h

@@ -35,10 +35,9 @@ class TB6600MotorDriver {
   TB6600MotorDriver();
   TB6600MotorDriver(uint8_t enablePin, uint8_t directionPin, uint8_t pulsePin, uint32_t usPulse, uint8_t microsteps);
 
-
   void setup();
 
-  void setDirection(uint8_t direction);
+  void setDirection(bool direction);
   void setSpeed(uint16_t rpm);
 
   //full

ino/mcopy_oxberry_camera/mcopy_oxberry_camera.ino

@@ -1,15 +1,121 @@
 #include "EndstopCameraShield.h"
 #include "McopySerial.h"
 
+const bool DEBUG = false;
+
+const uint8_t enableButtonPin = 9;
+const uint8_t enableButtonPin = 10;
+const uint8_t enableButtonPin = 11;
+const uint8_t enableButtonPin = 12;
+const uint8_t LEDPin = 13;
+
 const uint32_t usPulse = 300;
 const uint8_t microsteps = 2;
+volatile char cmdChar = 'z';
+volatile long now;
+
+volatile long exposureAvg = -1; //pre-fill
+volatile String exposureString;
+volatile long exposureTarget = -1;
+
+volatile bool direction = true;
+volatile bool directionSwitch = true;
 
 EndstopCameraShield cam(usPulse, microsteps);
+McopySerial mc;
 
 void setup () {
+	mc.begin(mc.CAMERA_IDENTIFIER);
+	mc.debug(DEBUG);
 	cam.setup();
+	if (cam.isOpened()) {
+		mc.log("Camera is OPENED");
+	} else if (cam.isClosed()) {
+		mc.log("Camera is CLOSED");
+	}
 }
 
 void loop () {
+	now = millis();
+	cmdChar = mc.loop();
+	cmd(cmdChar);
 	cam.loop();
 }
+
+void cmd (char val) {
+  if (val == mc.CAMERA_FORWARD) {
+    camera_direction(true);
+  } else if (val == mc.CAMERA_BACKWARD) {
+    camera_direction(false);
+  } else if (val == mc.CAMERA) {
+    camera();
+  } else if (val == mc.CAMERA_EXPOSURE) {
+    exposure();
+  } else if (val == mc.STATE) {
+    state();
+  }
+}
+
+void exposure () {
+    exposureString = mc.getString();
+    parseExposureString();
+    cameraFrame = exposureTarget;
+    mc.confirm(mc.CAMERA_EXPOSURE);
+}
+
+void parseExposureString () {
+    exposureTarget = exposureString.toInt();
+}
+
+void camera_direction (boolean state) {
+	direction = state;
+	cam.setDirection(direction);
+	if (state) {
+		mc.confirm(mc.CAMERA_FORWARD);
+		mc.log("camera_direction(true)");
+	} else {
+		mc.confirm(mc.CAMERA_BACKWARD);
+		mc.log("camera_direction(false)");
+	}
+}
+
+void camera () {
+	long start, half, pause;
+	if (exposureTarget > -1) {
+		half = exposureAvg / 2; //assume a 180 shutter
+		pause = exposureTarget - half;
+		if (pause < exposureAvg) {
+			cam.frame();
+		} else {
+			cam.toOpen();
+			delay(pause);
+			cam.toClose();
+		}
+
+	} else{
+		millis();
+		cam.frame();
+		updateAvg(millis() - start);
+	}
+	mc.confirm(mc.CAMERA);
+}
+
+void state () {
+	String stateString = String(mc.STATE);
+	stateString += String(mc.CAMERA_EXPOSURE);
+	if (exposureTarget > -1) {
+		stateString += String(exposureTarget);
+	} else {
+		stateString += String(exposureAvg);
+	}
+	stateString += String(mc.STATE);
+	mc.sendString(stateString);
+}
+
+void updateAvg (long value) {
+	exposureAvg = round((exposureAvg + value) / 2);
+}
+
+/**
+ * Button logic
+ **/

package-lock.json

@@ -1,12 +1,12 @@
 {
   "name": "mcopy",
-  "version": "1.8.120",
+  "version": "1.8.121",
   "lockfileVersion": 2,
   "requires": true,
   "packages": {
     "": {
       "name": "mcopy",
-      "version": "1.8.120",
+      "version": "1.8.121",
       "license": "MIT",
       "dependencies": {
         "alert": "file:app/lib/alert",

package.json

@@ -1,6 +1,6 @@
 {
   "name": "mcopy",
-  "version": "1.8.120",
+  "version": "1.8.121",
   "description": "Small gauge film optical printer platform",
   "main": "build.js",
   "directories": {

processing/mcopy/cfg.json

@@ -1,5 +1,5 @@
 {
-  "version": "1.8.120",
+  "version": "1.8.121",
   "ext_port": 1111,
   "profiles": {
     "mcopy": {