From ca22a3ba4bcd26762364cd46a8191085cfc55af0 Mon Sep 17 00:00:00 2001
From: mattmcw <matt@sixteenmillimeter.com>
Date: Sun, 16 Apr 2023 16:42:00 -0400
Subject: [PATCH] Rewrite arri_s_firmware to use McopySerial

---
 .../mcopy_arri_s_firmware.ino                 | 97 +++++++------------
 1 file changed, 34 insertions(+), 63 deletions(-)

diff --git a/ino/mcopy_arri_s_firmware/mcopy_arri_s_firmware.ino b/ino/mcopy_arri_s_firmware/mcopy_arri_s_firmware.ino
index 03a59eb..979bbe1 100644
--- a/ino/mcopy_arri_s_firmware/mcopy_arri_s_firmware.ino
+++ b/ino/mcopy_arri_s_firmware/mcopy_arri_s_firmware.ino
@@ -1,6 +1,6 @@
 #include <Adafruit_MotorShield.h>
+#include "McopySerial.h"
 
-volatile boolean debug_state = true;
 volatile boolean cam_dir = true; 
 volatile boolean running = true;
 
@@ -9,90 +9,56 @@ const int fullRotation = 3 * stepsPerRevolution;
 const int openRotationForward = 300;
 const int openRotationBackward = 300;
 
-//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;
+volatile char cmdChar = 'z';
+volatile long now;
+volatile long cameraFrame = -1;
 
 Adafruit_MotorShield AFMS = Adafruit_MotorShield(); 
 //Set up for a 200step motor (NEMA 17)
 Adafruit_StepperMotor *stepper = AFMS.getStepper(stepsPerRevolution, 2);
 
+McopySerial mc;
+
 void setupMotor () {
 	//TWBR = ((F_CPU /400000l) - 16) / 2; // Change the i2c clock to 400KHz
   if (!AFMS.begin()) { // default frequency 1.6KHz
-    log("Could not find Motor Shield. Check wiring.");
+    mc.log("Could not find Motor Shield. Check wiring.");
     while (1);
   }
   
-  log("Motor Shield found.");
+  mc.log("Motor Shield found.");
   stepper->setSpeed(600);
 }
 
 void setup() {
-  Serial.begin(57600);
+  mc.begin(mc.CAMERA_IDENTIFIER);
   setupMotor();
 }
 
 void loop() {
-	if (Serial.available()) {
-    // read the most recent byte 
-    cmd_char = (char)Serial.read();
-  }
-  if (cmd_char != 'z') {
-    cmd(cmd_char);
-    cmd_char = 'z';
-  }
+	now = millis();
+  cmdChar = mc.loop();
+  cmd(cmdChar);
 }
 
 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) {
-    setDir(true); //explicit
-  } else if (val == cmd_cam_backward) {
+  if (val == mc.CAMERA_FORWARD) {
+    setDir(true);
+  } else if (val == mc.CAMERA_BACKWARD) {
     setDir(false);
-  } else if (val == cmd_camera) {
+  } else if (val == mc.CAMERA) {
     cam();
   }
 }
 
-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 (boolean dir) {
   cam_dir = dir;
   if (cam_dir) {
-  	Serial.println(cmd_cam_forward);
-  	log("setDir = true");
+  	mc.confirm(mc.CAMERA_FORWARD);
+  	mc.log("setDir = true");
   } else {
-  	Serial.println(cmd_cam_backward);
-  	log("setDir -> false");
+  	mc.confirm(mc.CAMERA_BACKWARD);
+  	mc.log("setDir -> false");
 	}
 }
 
@@ -100,18 +66,23 @@ void cam () {
 	long startTime = millis();
 	if (cam_dir) {
 		stepper->step(fullRotation, FORWARD, DOUBLE);
-		Serial.println(cmd_cam_forward);
-    log("cam -> forward");
+    mc.log("cam() -> forward");
 	} else {
 		stepper->step(fullRotation, BACKWARD, DOUBLE);
-	  Serial.println(cmd_cam_backward);
-    log("cam -> backward");
+    mc.log("cam() -> backward");
 	}
-	log(String(millis() - startTime));
+  mc.confirm(mc.CAMERA);
+  if (cameraFrame == -1) {
+    cameraFrame = millis() - startTime;
+  } else {
+    cameraFrame = round((cameraFrame + (millis() - startTime)) / 2);
+  }
+	mc.log(String(cameraFrame));
 }
 
-void log (String msg) {
-	if (debug_state) {
-		Serial.println(msg);
-	}
+void state () {
+  String stateString = String(mc.CAMERA_EXPOSURE);
+  stateString += String(cameraFrame);
+  stateString += String(mc.STATE);
+  mc.print(stateString);
 }
\ No newline at end of file