Work on endstopcamerashield.h

ino/mcopy_oxberry_mitchell/EndstopCameraShield.h

@@ -0,0 +1,26 @@
+#ifndef EndstopCameraShield_h
+#define EndstopCameraShield_h
+
+#include <Arduino.h>
+
+/**
+ * Default pins
+ * 2 Close Receiver Pin
+ * 3 Open Receiver Pin
+ * 4 Open Emitter Pin
+ * 5 Close Emitter Pin
+ **/
+
+class EndstopCameraShield {
+  private:
+  const 
+
+  public:
+
+  EndstopCameraShield();
+
+  void setup();
+  void loop();
+};
+
+#endif

ino/mcopy_oxberry_mitchell/McopySerial.cpp

@@ -0,0 +1,74 @@
+/// 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::sendString (String str) {
+	Serial.println(str);
+}
+
+void McopySerial::print (String message) {
+	Serial.println(message);
+}

ino/mcopy_oxberry_mitchell/McopySerial.h

@@ -0,0 +1,89 @@
+#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 HOME = 'I';
+	const char LIGHT = 'l';
+	const char LIGHT_IDENTIFIER = 'o';
+	const char MCOPY_IDENTIFIER = 'm';
+	const char OFFSET = 'O';
+	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 sendString(String str);
+
+	void debug (bool state);
+	void log (String message);
+
+};
+
+#endif

ino/mcopy_oxberry_mitchell/TB6600MotorDriver.cpp

@@ -0,0 +1,76 @@
+#include "TB6600MotorDriver.h"
+
+TB6600MotorDriver::TB6600MotorDriver() {
+	//
+}
+
+TB6600MotorDriver::TB6600MotorDriver(uint8_t enablePin, uint8_t directionPin, uint8_t pulsePin, uint32_t usPulse, uint8_t microsteps) {
+	_enablePin = enablePin;
+	_directionPin = directionPin;
+	_pulsePin = pulsePin;
+
+	_usPulse = usPulse;
+	_microsteps = microsteps;
+	_revsteps = 200 * microsteps;
+}
+
+
+void TB6600MotorDriver::setup() {
+	if (_enablePin != 0) {
+		pinMode(_enablePin, OUTPUT);
+	}
+	pinMode(_directionPin, OUTPUT);
+	pinMode(_pulsePin, OUTPUT);
+
+	digitalWrite(_directionPin, LOW);
+	digitalWrite(_enablePin, HIGH);
+}
+
+void TB6600MotorDriver::setDirection(uint8_t direction) {
+	if (direction != _direction) {
+		_direction = direction;
+		_setDirection();
+	}
+}
+
+void TB6600MotorDriver::_setDirection{
+	digitalWrite(_directionPin, _direction ? LOW : HIGH);
+}
+
+void TB6600MotorDriver::setSpeed(uint16_t rpm) {
+	_usPulse = 60000000 / ((uint32_t) revsteps * (uint32_t) rpm);
+}
+
+void TB6600MotorDriver::steps(uint64_t stepCount) {
+	for (uint64_t i = 0; i < stepCount; i++) {
+		_step();
+	}
+}
+
+void TB6600MotorDriver::_step() {
+	digitalWrite(_pulsePin, HIGH);
+	delayMicroseconds(_usPulse);
+	digitalWrite(_pulsePin, LOW);
+	delayMicroseconds(_usPulse);
+}
+
+void TB6600MotorDriver::step() {
+	_step();
+}
+
+void TB6600MotorDriver::release() {
+	_enabled = false;
+	_setEnable();
+}
+
+void TB6600MotorDriver::enable() {
+	_enabled = true;
+	_setEnable();
+}
+
+void TB6600MotorDriver::_setEnable() {
+	if (_enablePin != 0) {
+		digitalWrite(_enablePin, _enabled ? HIGH : LOW);
+	}
+}
+

ino/mcopy_oxberry_mitchell/TB6600MotorDriver.h

@@ -0,0 +1,52 @@
+#ifndef TB6600MotorDriver_h
+#define TB6600MotorDriver_h
+
+#include <Arduino.h>
+
+/**
+ * Default pins
+ * D6 Enable +
+ * D7 Direction +
+ * D8 Pulse +
+ **/
+
+class TB6600MotorDriver {
+  private:
+
+  volatile uint8_t _enablePin = 0; //0 is disabled
+  volatile uint8_t _directionPin = 7;
+  volatile uint8_t _pulsePin = 8;
+
+  volatile uint32_t _usPulse = 300;
+
+  //physically set, can't change
+  volatile uint8_t _microsteps = 1;   //1, 2, 4, 8, 16, 32
+
+  volatile uint16_t _revsteps = 200; // # steps per revolution
+  volatile bool _direction = true;
+  volatile bool _enabled = true;
+
+  void _step();
+  void _setDirection();
+  void _setEnable();
+
+  public:
+
+  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 setSpeed(uint16_t rpm);
+
+  //full
+  void steps(uint64_t stepCount);
+  void step();
+
+  void enable();
+  void release();
+};
+
+#endif

ino/mcopy_oxberry_mitchell/mcopy_oxberry_mitchell.ino

@@ -0,0 +1,10 @@
+#include "EndstopCameraShield.h"
+#include "McopySerial.h"
+
+void setup () {
+	
+}
+
+void loop () {
+	
+}

scripts/ino.sh

@@ -26,6 +26,7 @@ SKETCHES=(
 	components/mcopy_light
 	mcopy_projector_firmware
 	mcopy_ACME_Trebes_Nanolab
+	mcopy_oxberry_mitchell
 )
 
 for sketch in "${SKETCHES[@]}"; do