159 lines
3.2 KiB
C++
159 lines
3.2 KiB
C++
#include "EndstopCameraShield.h"
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#include "McopySerial.h"
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const bool DEBUG = false;
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//const uint8_t enableButtonPin = 9; //enable feature
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const uint8_t directionSwitchPin = 10;
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const uint8_t cameraButtonPin = 11;
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const uint8_t openCloseSwitchPin = 12;
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const uint8_t LEDPin = 13;
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const uint32_t usPulse = 300;
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const uint8_t microsteps = 2;
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volatile char cmdChar = 'z';
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volatile long now;
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volatile long exposureAvg = 250;
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volatile String exposureString;
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volatile long exposureTarget = -1;
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volatile bool direction = true;
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volatile bool directionSwitch = true;
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EndstopCameraShield cam(usPulse, microsteps);
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McopySerial mc;
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void setup () {
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pinMode(directionSwitchPin, INPUT_PULLUP);
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pinMode(openCloseSwitchPin, INPUT_PULLUP);
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pinMode(cameraButtonPin, INPUT_PULLUP);
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mc.begin(mc.CAMERA_IDENTIFIER);
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mc.debug(DEBUG);
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cam.setup();
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if (cam.isOpened()) {
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mc.log("Camera is OPENED");
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} else if (cam.isClosed()) {
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mc.log("Camera is CLOSED");
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} else {
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mc.log("Camera is in UNKNOWN state");
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}
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}
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void loop () {
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now = millis();
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cmdChar = mc.loop();
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cmd(cmdChar);
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cam.loop();
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}
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void cmd (char val) {
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if (val == mc.CAMERA_FORWARD) {
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camera_direction(true);
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} else if (val == mc.CAMERA_BACKWARD) {
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camera_direction(false);
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} else if (val == mc.CAMERA) {
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camera();
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} else if (val == mc.CAMERA_OPEN) {
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camera_open();
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} else if (val == mc.CAMERA_CLOSE) {
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camera_close();
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} else if (val == mc.CAMERA_EXPOSURE) {
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exposure();
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} else if (val == mc.STATE) {
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state();
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}
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}
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void exposure () {
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exposureString = mc.getString();
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parseExposureString();
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exposureAvg = exposureTarget;
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mc.confirm(mc.CAMERA_EXPOSURE);
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}
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void parseExposureString () {
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exposureTarget = exposureString.toInt();
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}
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void camera_direction (boolean state) {
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direction = state;
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cam.setDirection(direction);
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if (state) {
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mc.confirm(mc.CAMERA_FORWARD);
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mc.log("camera_direction(true)");
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} else {
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mc.confirm(mc.CAMERA_BACKWARD);
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mc.log("camera_direction(false)");
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}
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}
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void camera () {
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long start = millis();
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long half;
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long pause;
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long ms;
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if (exposureTarget > -1) {
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half = exposureAvg / 2; //assume a 180 shutter
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pause = exposureTarget - half;
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if (pause < exposureAvg) {
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cam.frame();
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} else {
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cam.toOpen();
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delay(pause);
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cam.toClose();
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}
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} else{
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cam.frame();
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}
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ms = millis() - start;
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if (exposureTarget < 0) {
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updateAvg(ms);
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}
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mc.log("camera()");
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mc.log(String(ms) + "ms");
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mc.confirm(mc.CAMERA);
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}
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void camera_open () {
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long start = millis();
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long ms;
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cam.toOpen();
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ms = millis() - start;
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mc.log("camera_open()");
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mc.log(String(ms) + "ms");
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mc.confirm(mc.CAMERA_OPEN);
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}
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void camera_close () {
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long start = millis();
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long ms;
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cam.toClose();
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ms = millis() - start;
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mc.log("camera_close()");
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mc.log(String(ms) + "ms");
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mc.confirm(mc.CAMERA_CLOSE);
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}
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void state () {
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String stateString = String(mc.STATE);
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stateString += String(mc.CAMERA_EXPOSURE);
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if (exposureTarget > -1) {
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stateString += String(exposureTarget);
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} else {
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stateString += String(exposureAvg);
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}
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stateString += String(mc.STATE);
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mc.sendString(stateString);
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}
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void updateAvg (long value) {
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exposureAvg = round((exposureAvg + value) / 2);
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}
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/**
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* Button logic
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**/ |