mcopy/ino/mcopy_arri_s_firmware/mcopy_arri_s_firmware.ino

88 lines
1.9 KiB
C++

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