mcopy/ino/mcopy_projector_firmware/mcopy_projector_firmware.ino

187 lines
3.9 KiB
C++

/*
JK-compatible projector element
Hardware
Arduino Mega
Itead Dual Stepper Shield
2x NEMA17 Stepper Motors
Wiring
(Will vary from motor to motor)
X01A - Green
X01B - Black
X02A - Blue
X02B - Red
Y01A - Green
Y01B - Black
Y02A - Blue
Y02B - Red
*/
#include "McopyProjector.h"
#include "McopySerial.h"
#include <AccelStepper.h>
#define TAKEUP_DIR_PIN 3
#define TAKEUP_STEP_PIN 2
#define FEED_DIR_PIN 7
#define FEED_STEP_PIN 6
#define TAKEUP_SETTINGS_A 4
#define TAKEUP_SETTINGS_B 5
#define FEED_SETTINGS_A 8
#define FEED_SETTINGS_B 9
#define TAKEUP_EMITTER 17
#define TAKEUP_RECEIVER A8
#define FEED_EMITTER 18
#define FEED_RECEIVER A9
#define SERVO_PIN 14
AccelStepper takeup(AccelStepper::DRIVER, TAKEUP_STEP_PIN, TAKEUP_DIR_PIN);
AccelStepper feed(AccelStepper::DRIVER, FEED_STEP_PIN, FEED_DIR_PIN);
//CAMERA CONSTANTS
const int BUTTON = 19;
const int LED_FWD = 20;
const int LED_BWD = 21;
const int PROJECTOR_MOMENT = 240;
//VARIABLES
volatile int projectorFrame = -1;
volatile char cmdChar = 'z';
volatile long now;
volatile bool direction = true;
volatile long start;
McopySerial mcopy;
McopyProjector projector(takeup, feed,
TAKEUP_SETTINGS_A, TAKEUP_SETTINGS_B,
FEED_SETTINGS_A, FEED_SETTINGS_B,
TAKEUP_EMITTER, TAKEUP_RECEIVER,
FEED_EMITTER, FEED_RECEIVER,
SERVO_PIN);
void setup () {
pins();
digitalWrite(LED_FWD, HIGH);
digitalWrite(LED_BWD, HIGH);
mcopy.begin(mcopy.PROJECTOR_IDENTIFIER);
projector.begin();
delay(42);
digitalWrite(LED_FWD, LOW);
digitalWrite(LED_BWD, LOW);
//projector.home();
}
void loop () {
now = millis();
cmdChar = mcopy.loop();
cmd(cmdChar);
if (digitalRead(BUTTON) == LOW) {
//projector_frame();
}
//projector.loop();
}
void pins () {
pinMode(LED_FWD, OUTPUT);
pinMode(LED_BWD, OUTPUT);
pinMode(BUTTON, INPUT_PULLUP);
digitalWrite(LED_FWD, LOW);
digitalWrite(LED_BWD, LOW);
}
void cmd (char val) {
if (val == mcopy.PROJECTOR_FORWARD) {
projector_direction(true);
} else if (val == mcopy.PROJECTOR_BACKWARD) {
projector_direction(false);
} else if (val == mcopy.PROJECTOR) {
projector_frame();
} else if (val == mcopy.STATE) {
state();
}
}
void projector_direction (boolean state) {
direction = state;
if (state) {
mcopy.confirm(mcopy.PROJECTOR_FORWARD);
mcopy.log("projector_direction(true)");
projector.setDirection(true);
} else {
mcopy.confirm(mcopy.PROJECTOR_BACKWARD);
mcopy.log("projector_direction(false)");
projector.setDirection(false);
}
}
void projector_timing_start () {
start = millis();
}
void projector_timing_end () {
long end = millis();
if (projectorFrame == -1) {
projectorFrame = (end - start);
} else {
//rolling mean
projectorFrame = (projectorFrame + (end - start) / 2);
}
}
void projector_frame () {
int LED = direction ? LED_FWD : LED_BWD;
mcopy.log("projector_direction(false)");
digitalWrite(LED, HIGH);
projector.frame(direction);
mcopy.confirm(mcopy.PROJECTOR);
digitalWrite(LED, LOW);
}
void state () {
String stateString = String(mcopy.CAMERA_EXPOSURE);
stateString += String(projectorFrame);
stateString += String(mcopy.STATE);
mcopy.print(stateString);
}
/*
long readVcc() {
long result;
// Read 1.1V reference against AVcc
ADMUX = _BV(REFS0) | _BV(MUX3) | _BV(MUX2) | _BV(MUX1);
delay(2); // Wait for Vref to settle
ADCSRA |= _BV(ADSC); // Convert
while (bit_is_set(ADCSRA,ADSC));
result = ADCL;
result |= ADCH<<8;
result = 1125300L / result; // Back-calculate AVcc in mV
return result;
}
long analogReadAccurate (int pin) {
double Vcc = readVcc() / 1000.0;
double ADCValue = analogRead(pin);
return (ADCValue / 1024.0) * Vcc;
}
long analogReadAccurateAverage (int pin) {
int count = 3;
double sum = 0.0;
for (int i = 0; i < count; i++) {
sum += analogReadAccurate(pin);
delay(1);
}
return sum / (double) count;
}
*/