142 lines
2.5 KiB
C++
142 lines
2.5 KiB
C++
/*
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Wiring
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CAMERA + CAMERA_DIR
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Wire directly to corresponding relay pins.
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Arduino 2 3
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Relay 1 2
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*/
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boolean debug_state = false;
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//unsigned long now; //to be compared to stored values every loop
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//CAMERA CONSTANTS
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const int CAMERA = 2;
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const int CAMERA_DIR = 3;
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const int CAMERA_MOMENT = 240;
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const int CAMERA_FRAME = 600;
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//CAMERA VARIABLES
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boolean cam_dir = true;
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//CAMERA COMMANDS
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const char cmd_camera = 'c';
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const char cmd_cam_forward = 'e';
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const char cmd_cam_backward = 'f';
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const char cmd_debug = 'd';
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const char cmd_connect = 'i';
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volatile char cmd_char = 'z';
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const char cmd_mcopy_identifier = 'm';
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const char cmd_cam_identifier = 'k';
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const int serialDelay = 5;
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void setup () {
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Serial.begin(57600);
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Serial.flush();
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//Serial.setTimeout(serialDelay);
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pins();
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}
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void loop () {
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//now = millis();
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if (Serial.available()) {
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/* read the most recent byte */
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cmd_char = (char)Serial.read();
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}
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if (cmd_char != 'z') {
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cmd(cmd_char);
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cmd_char = 'z';
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}
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}
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void pins () {
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//RELAYS
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pinMode(CAMERA, OUTPUT);
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pinMode(CAMERA_DIR, OUTPUT);
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//SET LOW
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digitalWrite(CAMERA, HIGH);
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digitalWrite(CAMERA_DIR, HIGH);
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}
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void cmd (char val) {
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if (val == cmd_debug) {
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debug();
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} else if (val == cmd_connect) {
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connect();
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} else if (val == cmd_mcopy_identifier) {
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identify();
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} else if (val == cmd_cam_forward) {
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cam_direction(true); //explicit
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} else if (val == cmd_cam_backward) {
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cam_direction(false);
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} else if (val == cmd_camera) {
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cam_start();
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}
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}
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void debug () {
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debug_state = true;
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Serial.println(cmd_debug);
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log("debugging enabled");
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}
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void connect () {
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Serial.println(cmd_connect);
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log("connect()");
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}
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void identify () {
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Serial.println(cmd_cam_identifier);
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log("identify()");
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}
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void setDir (int pin, boolean dir) {
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if (!dir) {
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digitalWrite(pin, LOW);
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} else {
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digitalWrite(pin, HIGH);
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}
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}
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void cam_start () {
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digitalWrite(CAMERA, LOW);
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delay(CAMERA_MOMENT);
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digitalWrite(CAMERA, HIGH);
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delay(CAMERA_FRAME - CAMERA_MOMENT);
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cam_stop();
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}
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void cam_stop () {
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Serial.println(cmd_camera);
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log("camera()");
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}
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void cam_direction (boolean state) {
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cam_dir = state;
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if (state) {
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digitalWrite(CAMERA_DIR, LOW);
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Serial.println(cmd_cam_forward);
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log("cam_direction -> true");
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} else {
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digitalWrite(CAMERA_DIR, HIGH);
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Serial.println(cmd_cam_backward);
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log("cam_direction -> false");
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}
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}
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void log (String msg) {
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if (debug_state) {
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Serial.println(msg);
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}
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}
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