94 lines
2.0 KiB
C++
94 lines
2.0 KiB
C++
#include <Adafruit_MotorShield.h>
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#include "McopySerial.h"
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volatile boolean cam_dir = true;
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volatile boolean running = true;
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const int stepsPerRevolution = 200;
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const int fullRotation = 3 * stepsPerRevolution;
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const int openRotationForward = 300;
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const int openRotationBackward = 300;
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volatile char cmdChar = 'z';
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volatile long now;
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volatile long cameraFrame = -1;
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Adafruit_MotorShield AFMS = Adafruit_MotorShield();
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//Set up for a 200step motor (NEMA 17)
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Adafruit_StepperMotor *stepper = AFMS.getStepper(stepsPerRevolution, 2);
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McopySerial mc;
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void setupMotor () {
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//TWBR = ((F_CPU /400000l) - 16) / 2; // Change the i2c clock to 400KHz
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if (!AFMS.begin()) { // default frequency 1.6KHz
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mc.log("Could not find Motor Shield. Check wiring.");
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while (1);
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}
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mc.log("Motor Shield found.");
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stepper->setSpeed(600);
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}
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void setup() {
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mc.begin(mc.CAMERA_IDENTIFIER);
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setupMotor();
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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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}
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void cmd (char val) {
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if (val == mc.CAMERA_FORWARD) {
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setDir(true);
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} else if (val == mc.CAMERA_BACKWARD) {
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setDir(false);
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} else if (val == mc.CAMERA) {
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cam();
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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 setDir (boolean dir) {
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cam_dir = dir;
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if (cam_dir) {
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mc.confirm(mc.CAMERA_FORWARD);
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mc.log("setDir = true");
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} else {
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mc.confirm(mc.CAMERA_BACKWARD);
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mc.log("setDir -> false");
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}
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}
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void cam () {
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long startTime = millis();
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if (cam_dir) {
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stepper->step(fullRotation, FORWARD, DOUBLE);
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mc.log("cam() -> forward");
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} else {
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stepper->step(fullRotation, BACKWARD, DOUBLE);
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mc.log("cam() -> backward");
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}
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mc.confirm(mc.CAMERA);
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timeFrame(startTime);
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mc.log(String(cameraFrame));
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}
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void timeFrame (long startTime) {
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if (cameraFrame == -1) {
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cameraFrame = millis() - startTime;
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} else {
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cameraFrame = round((cameraFrame + (millis() - startTime)) / 2);
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}
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}
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void state () {
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String stateString = String(mc.CAMERA_EXPOSURE);
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stateString += String(cameraFrame);
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stateString += String(mc.STATE);
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mc.print(stateString);
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} |