117 lines
2.5 KiB
C++
117 lines
2.5 KiB
C++
#include <Adafruit_MotorShield.h>
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volatile boolean debug_state = true;
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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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//CAMERA COMMANDS
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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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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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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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log("Could not find Motor Shield. Check wiring.");
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while (1);
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}
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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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Serial.begin(57600);
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setupMotor();
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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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}
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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_cam_forward) {
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setDir(true); //explicit
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} else if (val == cmd_cam_backward) {
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setDir(false);
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} else if (val == cmd_camera) {
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cam();
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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 setDir (boolean dir) {
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cam_dir = dir;
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if (cam_dir) {
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Serial.println(cmd_cam_forward);
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log("setDir = true");
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} else {
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Serial.println(cmd_cam_backward);
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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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Serial.println(cmd_cam_forward);
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log("cam -> forward");
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} else {
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stepper->step(fullRotation, BACKWARD, DOUBLE);
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Serial.println(cmd_cam_backward);
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log("cam -> backward");
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}
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log(String(millis() - startTime));
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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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} |