boolean debug_state = false; //Can be controlled via serial //Buttons are optional //Exposure controls assumes use of a 120RPM motor //Uses L298N H-bridge breakout board //Target board is an Adafruit Metro Mini, //also using an Uno as a dev board /* ---------------------------------------------------- Microswitch (use INPUT_PULLUP!!) GND-----\ | \-----PIN ---------------------------------------------------- */ const int MOTOR_RPM = 120; const int BOLEX_C = round((133 / (1.66 * 360)) * 1000); //bolex exposure constant const int FAST_PWM = 255; const int SLOW_PWM = 127; /* ------------------------------------------------ * pins * ------------------------------------------------*/ //Adafruit Metro Mini const int PIN_INDICATOR = 13; const int PIN_MOTOR_FORWARD = 9; const int PIN_MOTOR_BACKWARD = 10; const int PIN_MICRO = 19; //laser cut version const int BUTTON[4] = {3, 6, 5, 4}; //trigger, direction, speed, delay /* ------------------------------------------------ * loop * ------------------------------------------------*/ const int LOOP_DELAY = 10; /* ------------------------------------------------ * state * ------------------------------------------------*/ volatile int button_state[4] = {1, 1, 1, 1}; volatile long button_time[4] = {0, 0, 0, 0}; volatile long buttontime = 0; volatile boolean sequence = false; volatile boolean running = false; volatile boolean cam_dir = true; volatile boolean delaying = false; volatile boolean timed = false; volatile int counter = 0; volatile int micro_position = 0; volatile boolean micro_primed = false; unsigned long timer = 0; unsigned long frame_start = 0; unsigned long delay_start = 0; String timed_str = "600"; unsigned long timed_val = 600; unsigned long timed_open = 300; //ms after start_frame to pause volatile boolean timed_paused = false; unsigned long timed_delay = 0; unsigned long timed_last = 0; unsigned long timed_avg = 600; volatile int fwd_speed = FAST_PWM; volatile int bwd_speed = FAST_PWM; volatile long seq_delay = 42; /* ------------------------------------------------ * serial * ------------------------------------------------*/ const char cmd_camera = 'c'; const char cmd_cam_forward = 'e'; const char cmd_cam_backward = 'f'; const char cmd_timed = 'n'; 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; void setup() { Serial_init(); Pins_init(); Buttons_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(); Btn(0); Btn(1); Btn(2); Btn(3); if (sequence && delaying) { Watch_delay(); } if (running) { if (timed) { Read_timed(); } else { Read_micro(); } } if (!running && !sequence && !delaying){ delay(LOOP_DELAY); } } 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_camera) { Frame(); } else if (val == cmd_cam_forward) { cam_direction(true); //explicit } else if (val == cmd_cam_backward) { cam_direction(false); } else if (val == cmd_timed) { timedString(); } } 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()"); } //sending "0" will reset to default exposure time void timedString () { while (Serial.available() == 0) { //Wait for timed string } timed_str = Serial.readString(); timed_val = timed_str.toInt(); if (timed_val < 600) { timed_val = 600; timed_str = "600"; timed = false; } else { timed_delay = timed_val - BOLEX_C; timed = true; } Serial.println(cmd_timed); log("Set exposure time to: "); log(timed_str); } void Serial_init () { Serial.begin(57600); Serial.flush(); Serial.setTimeout(serialDelay); } void Pins_init () { pinMode(PIN_MOTOR_FORWARD, OUTPUT); pinMode(PIN_MOTOR_BACKWARD, OUTPUT); pinMode(PIN_MICRO, INPUT_PULLUP); pinMode(PIN_INDICATOR, OUTPUT); } void Buttons_init () { for (int i = 0; i < 4; i++) { pinMode(BUTTON[i], INPUT_PULLUP); } } void Btn (int index) { int val = digitalRead(BUTTON[index]); if (val != button_state[index]) { if (val == LOW) { // pressed button_time[index] = millis(); //button_start(index); } else if (val == HIGH) { // not pressed buttontime = millis() - button_time[index]; button_end(index, buttontime); } } button_state[index] = val; } /* * dormant for now * void button_start (int index) { if (index == 0) { } }*/ void button_end (int index, long buttontime) { if (index == 0) { if (buttontime > 1000) { if (!sequence) { sequence = true; Output(2, 75); Frame(); } } else { if (sequence) { sequence = false; //Output(2, 75); } else { Frame(); } } } else if (index == 1) { //set direction if (buttontime < 1000) { cam_dir = true; Output(1, 500); } else if (buttontime > 1000) { cam_dir = false; Output(2, 250); } } else if (index == 2) { // set speed if (buttontime <= 1000) { fwd_speed = FAST_PWM; bwd_speed = FAST_PWM; Output(1, 500); } else if (buttontime > 1000) { fwd_speed = SLOW_PWM; bwd_speed = SLOW_PWM; Output(2, 250); } } else if (index == 3) { //set delay if (buttontime < 42) { seq_delay = 42; Output(1, 500); } else { seq_delay = buttontime; Output(2, 250); } } buttontime = 0; } void Indicator (boolean state) { if (state) { digitalWrite(PIN_INDICATOR, HIGH); } else { digitalWrite(PIN_INDICATOR, LOW); } } void Output (int number, int len) { for (int i = 0; i < number; i++) { Indicator(true); delay(len); Indicator(false); delay(42); } } void Frame () { frame_start = millis(); if (cam_dir) { analogWrite(PIN_MOTOR_FORWARD, fwd_speed); analogWrite(PIN_MOTOR_BACKWARD, 0); } else { analogWrite(PIN_MOTOR_BACKWARD, bwd_speed); analogWrite(PIN_MOTOR_FORWARD, 0); } running = true; micro_primed = false; } boolean Read_delay () { if (fwd_speed == FAST_PWM) { if (timer - frame_start >= 300) { return true; } } else { if (timer - frame_start >= 600) { return true; } } return false; } void Watch_delay () { if (timer - delay_start >= seq_delay) { delaying = false; Frame(); } } void Read_timed () { if (!timed_paused) { if (timer - frame_start > timed_open && timer - frame_start < timed_open + timed_delay) { timed_paused = true; Pause_timed(); } else if (timer - frame_start > timed_open + timed_delay) { micro_position = digitalRead(PIN_MICRO); if (micro_position == HIGH) { Stop(); } delay(2);//smooths out signal } } if (timed_paused && timer - frame_start > timed_open + timed_delay) { timed_paused = false; Start_timed(); } } void Pause_timed () { analogWrite(PIN_MOTOR_FORWARD, 0); analogWrite(PIN_MOTOR_BACKWARD, 0); } void Start_timed () { if (cam_dir) { analogWrite(PIN_MOTOR_FORWARD, fwd_speed); analogWrite(PIN_MOTOR_BACKWARD, 0); } else { analogWrite(PIN_MOTOR_BACKWARD, bwd_speed); analogWrite(PIN_MOTOR_FORWARD, 0); } } void Read_micro () { if (Read_delay()) { micro_position = digitalRead(PIN_MICRO); if (micro_position == LOW && micro_primed == false) { micro_primed = true; } else if (micro_position == HIGH && micro_primed == true) { Stop(); } delay(2);//smooths out signal } } void Stop () { delay(10); analogWrite(PIN_MOTOR_FORWARD, 0); analogWrite(PIN_MOTOR_BACKWARD, 0); running = false; micro_primed = false; if (cam_dir) { counter += 1; } else { counter -= 1; } timed_last = timer - frame_start; timed_avg = (timed_avg + timed_last) / 2; Serial.println(cmd_camera); log("Frame completed"); log(String(timed_last)); } void cam_direction (boolean state) { cam_dir = state; if (state) { timed_open = 300; Serial.println(cmd_cam_forward); log("cam_direction -> true"); } else { timed_open = 400; Serial.println(cmd_cam_backward); log("cam_direction -> false"); } } void log (String msg) { if (debug_state) { Serial.println(msg); } }