boolean debug_state = false; /* ---------------------------------------------------- Microswitch (use INPUT_PULLUP!!) GND-----\ | \-----PIN ---------------------------------------------------- */ 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 volatile boolean running = false; volatile boolean cam_dir = true; volatile int micro_position = 0; volatile boolean micro_primed = false; unsigned long timer = 0; unsigned long frame_start = 0; unsigned long delay_start = 0; volatile int fwd_speed = FAST_PWM; volatile int bwd_speed = FAST_PWM; volatile long seq_delay = 42; 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; 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(); if (running) { Read_micro(); } } 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); } } 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 Pins_init () { pinMode(PIN_MOTOR_FORWARD, OUTPUT); pinMode(PIN_MOTOR_BACKWARD, OUTPUT); pinMode(PIN_MICRO, INPUT_PULLUP); pinMode(PIN_INDICATOR, OUTPUT); } 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 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; Serial.println(cmd_cam_backward); log("Frame completed"); } void cam_direction (boolean state) { cam_dir = state; if (state) { Serial.println(cmd_cam_forward); log("cam_direction -> true"); } else { Serial.println(cmd_cam_backward); log("cam_direction -> false"); } } void log (String msg) { if (debug_state) { Serial.println(msg); } }