mcopy/ino/mcopy_cam_firmware/mcopy_cam_firmware.ino

142 lines
2.5 KiB
C++

/*
Wiring
CAMERA + CAMERA_DIR
Wire directly to corresponding relay pins.
Arduino 2 3
Relay 1 2
*/
boolean debug_state = false;
//unsigned long now; //to be compared to stored values every loop
//CAMERA CONSTANTS
const int CAMERA = 2;
const int CAMERA_DIR = 3;
const int CAMERA_MOMENT = 240;
const int CAMERA_FRAME = 600;
//CAMERA VARIABLES
boolean cam_dir = true;
//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;
void setup () {
Serial.begin(57600);
Serial.flush();
//Serial.setTimeout(serialDelay);
pins();
}
void loop () {
//now = millis();
if (Serial.available()) {
/* read the most recent byte */
cmd_char = (char)Serial.read();
}
if (cmd_char != 'z') {
cmd(cmd_char);
cmd_char = 'z';
}
}
void pins () {
//RELAYS
pinMode(CAMERA, OUTPUT);
pinMode(CAMERA_DIR, OUTPUT);
//SET LOW
digitalWrite(CAMERA, HIGH);
digitalWrite(CAMERA_DIR, HIGH);
}
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) {
cam_direction(true); //explicit
} else if (val == cmd_cam_backward) {
cam_direction(false);
} else if (val == cmd_camera) {
cam_start();
}
}
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 (int pin, boolean dir) {
if (!dir) {
digitalWrite(pin, LOW);
} else {
digitalWrite(pin, HIGH);
}
}
void cam_start () {
digitalWrite(CAMERA, LOW);
delay(CAMERA_MOMENT);
digitalWrite(CAMERA, HIGH);
delay(CAMERA_FRAME - CAMERA_MOMENT);
cam_stop();
}
void cam_stop () {
Serial.println(cmd_camera);
log("camera()");
}
void cam_direction (boolean state) {
cam_dir = state;
if (state) {
digitalWrite(CAMERA_DIR, LOW);
Serial.println(cmd_cam_forward);
log("cam_direction -> true");
} else {
digitalWrite(CAMERA_DIR, HIGH);
Serial.println(cmd_cam_backward);
log("cam_direction -> false");
}
}
void log (String msg) {
if (debug_state) {
Serial.println(msg);
}
}