data/cfg.json

@@ -179,9 +179,12 @@
       "camera_projectors_identifier": "5",
       "cameras_projector_identifier": "6",
       "cameras_projectors_identifier": "7",
+      "capper_identifier" : "C",
       "camera_capper_identifier" : "8",
       "camera_capper_projector_identifier" : "9",
-      "camera_capper_projectors_identifier" : "0"
+      "camera_capper_projectors_identifier" : "0",
+      "cap_on" : "A",
+      "cap_off" : "B"
     }
   }
 }

ino/components/mcopy_capper/mcopy_capper.ino

@@ -0,0 +1,161 @@
+ #include <Servo.h>
+
+boolean debug_state = false;
+
+/*
+----------------------------------------------------
+Servo      -      Arduino
+           -
+Red        -      5V
+Black      -      GND
+Yellow     -      PWM Pin (9 in example)
+
+Optical Endstop
+       -
+Red        -      5V
+Black      -      GND
+Yellow     -      Pin 10
+----------------------------------------------------
+*/
+
+/* ------------------------------------------------
+ *  pins
+ * ------------------------------------------------*/
+//Arduino Duemilanove
+const int PIN_SERVO = 9;
+const int PIN_ENDSTOP = 10;
+
+volatile boolean running = false;
+volatile boolean cap_state = false;
+volatile boolean endstop_state = false;
+
+volatile int angle = 0;
+const int cap_on_angle = 0;
+const int cap_off_angle = 60;
+volatile long timer = 0;
+
+const char cmd_cap_on = 'A';
+const char cmd_cap_off = 'B';
+
+const char cmd_debug = 'd';
+const char cmd_connect = 'i';
+volatile char cmd_char = 'z';
+const char cmd_mcopy_identifier = 'm';
+const char cmd_capper_identifier = 'C';
+
+const int serialDelay = 5;
+
+Servo servo;
+//SG-5010 speed 0.18s / 60 degree
+//converted to milliseconds/angle
+const float servoSpeed = 180.0 / 60.0;
+
+void setup() {
+  Serial.begin(57600);
+  Serial.flush();
+  Serial.setTimeout(serialDelay);
+
+  Pins_init();
+}
+
+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';
+  }
+  timer = millis();
+
+}
+
+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_cap_on) {
+    Cap_on(false);
+  } else if (val == cmd_cap_off) {
+    Cap_off(false);
+  }
+}
+
+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_capper_identifier);
+  log("identify()");  
+}
+
+void Pins_init () {
+  pinMode(PIN_ENDSTOP, INPUT_PULLUP);
+}
+
+void Servo_init () {
+  servo.attach(PIN_SERVO);
+  delay(100);
+  if (!Read_endstop()) {
+    Cap_off(true);
+  }
+}
+
+boolean Read_endstop () {
+  return digitalRead(PIN_ENDSTOP) != LOW;
+}
+
+void Servo_angle (int newAngle) {
+  servo.write(newAngle);
+  delay(Servo_delay(newAngle, angle));
+  angle = newAngle;
+}
+
+int Servo_delay (int angleA, int angleB) {
+  int angle = abs(angleA - angleB);
+  return (int) ceil((float) angle * servoSpeed);
+}
+
+void Cap_off (boolean suppress) {
+  if (cap_state) {
+    Servo_angle(cap_off_angle);
+    cap_state = false;
+  } else {
+    log("Cap already off");
+  }
+  log("Cap_off()");
+  if (!suppress) {
+    Serial.println(cmd_cap_off);
+  }
+}
+
+void Cap_on (boolean suppress) {
+  if (!cap_state) {
+    Servo_angle(cap_on_angle);
+    cap_state = true;
+  } else {
+    log("Cap already on");
+  }
+  log("Cap_on()");
+  if (!suppress) {
+    Serial.println(cmd_cap_on);
+  }
+}
+
+void log (String msg) {
+  if (debug_state) {
+    Serial.println(msg);
+  }
+}