179 lines
3.6 KiB
C++
179 lines
3.6 KiB
C++
boolean debug_state = false;
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/*
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----------------------------------------------------
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Microswitch (use INPUT_PULLUP!!)
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GND-----\ | \-----PIN
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----------------------------------------------------
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*/
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const int FAST_PWM = 255;
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const int SLOW_PWM = 127;
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/* ------------------------------------------------
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* pins
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* ------------------------------------------------*/
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//Adafruit Metro Mini
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const int PIN_INDICATOR = 13;
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const int PIN_MOTOR_FORWARD = 9;
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const int PIN_MOTOR_BACKWARD = 10;
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const int PIN_MICRO = 19; //laser cut version
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volatile boolean running = false;
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volatile boolean cam_dir = true;
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volatile int micro_position = 0;
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volatile boolean micro_primed = false;
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unsigned long timer = 0;
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unsigned long frame_start = 0;
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unsigned long delay_start = 0;
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volatile int fwd_speed = FAST_PWM;
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volatile int bwd_speed = FAST_PWM;
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volatile long seq_delay = 42;
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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_init();
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}
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void loop() {
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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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timer = millis();
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if (running) {
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Read_micro();
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}
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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_camera) {
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Frame();
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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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}
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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 Pins_init () {
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pinMode(PIN_MOTOR_FORWARD, OUTPUT);
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pinMode(PIN_MOTOR_BACKWARD, OUTPUT);
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pinMode(PIN_MICRO, INPUT_PULLUP);
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pinMode(PIN_INDICATOR, OUTPUT);
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}
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void Frame () {
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frame_start = millis();
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if (cam_dir) {
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analogWrite(PIN_MOTOR_FORWARD, fwd_speed);
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analogWrite(PIN_MOTOR_BACKWARD, 0);
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} else {
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analogWrite(PIN_MOTOR_BACKWARD, bwd_speed);
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analogWrite(PIN_MOTOR_FORWARD, 0);
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}
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running = true;
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micro_primed = false;
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}
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boolean Read_delay () {
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if (fwd_speed == FAST_PWM) {
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if (timer - frame_start >= 300) {
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return true;
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}
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} else {
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if (timer - frame_start >= 600) {
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return true;
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}
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}
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return false;
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}
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void Read_micro () {
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if (Read_delay()) {
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micro_position = digitalRead(PIN_MICRO);
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if (micro_position == LOW
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&& micro_primed == false) {
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micro_primed = true;
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} else if (micro_position == HIGH
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&& micro_primed == true) {
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Stop();
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}
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delay(2);//smooths out signal
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}
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}
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void Stop () {
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delay(10);
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analogWrite(PIN_MOTOR_FORWARD, 0);
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analogWrite(PIN_MOTOR_BACKWARD, 0);
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running = false;
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micro_primed = false;
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Serial.println(cmd_camera);
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log("Frame completed");
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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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Serial.println(cmd_cam_forward);
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log("cam_direction -> true");
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} else {
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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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