404 lines
8.6 KiB
C++
404 lines
8.6 KiB
C++
boolean debug_state = false;
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//Can be controlled via serial
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//Buttons are optional
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//Exposure controls assumes use of a 120RPM motor
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//Uses L298N H-bridge breakout board
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//Target board is an Adafruit Metro Mini,
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//also using an Uno as a dev board
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/*
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----------------------------------------------------
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Microswitch (use INPUT_PULLUP!!)
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GND-----\ | \-----PIN
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----------------------------------------------------
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*/
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const int MOTOR_RPM = 120;
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const int BOLEX_C = round((133 / (1.66 * 360)) * 1000); //bolex exposure constant
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const int FAST_PWM = 255;
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const int SLOW_PWM = 127;
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/* ------------------------------------------------
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* pins
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* ------------------------------------------------*/
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//Adafruit Metro Mini
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const int PIN_INDICATOR = 13;
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const int PIN_MOTOR_FORWARD = 9;
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const int PIN_MOTOR_BACKWARD = 10;
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const int PIN_MICRO = 19; //laser cut version
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const int BUTTON[4] = {3, 6, 5, 4}; //trigger, direction, speed, delay
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/* ------------------------------------------------
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* loop
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* ------------------------------------------------*/
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const int LOOP_DELAY = 10;
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/* ------------------------------------------------
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* state
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* ------------------------------------------------*/
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volatile int button_state[4] = {1, 1, 1, 1};
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volatile long button_time[4] = {0, 0, 0, 0};
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volatile long buttontime = 0;
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volatile boolean sequence = false;
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volatile boolean running = false;
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volatile boolean cam_dir = true;
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volatile boolean delaying = false;
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volatile boolean timed = false;
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volatile int counter = 0;
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volatile int micro_position = 0;
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volatile boolean micro_primed = false;
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unsigned long timer = 0;
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unsigned long frame_start = 0;
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unsigned long delay_start = 0;
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String timed_str = "600";
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unsigned long timed_val = 600;
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unsigned long timed_open = 300; //ms after start_frame to pause
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volatile boolean timed_paused = false;
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unsigned long timed_delay = 0;
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unsigned long timed_last = 0;
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unsigned long timed_avg = 600;
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volatile int fwd_speed = FAST_PWM;
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volatile int bwd_speed = FAST_PWM;
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volatile long seq_delay = 42;
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/* ------------------------------------------------
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* serial
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* ------------------------------------------------*/
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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_timed = 'n';
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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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void setup() {
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Serial_init();
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Pins_init();
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Buttons_init();
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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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timer = millis();
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Btn(0);
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Btn(1);
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Btn(2);
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Btn(3);
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if (sequence && delaying) {
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Watch_delay();
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}
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if (running) {
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if (timed) {
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Read_timed();
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} else {
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Read_micro();
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}
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}
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if (!running && !sequence && !delaying){
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delay(LOOP_DELAY);
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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_camera) {
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Frame();
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} else if (val == cmd_cam_forward) {
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cam_direction(true); //explicit
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} else if (val == cmd_cam_backward) {
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cam_direction(false);
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} else if (val == cmd_timed) {
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timedString();
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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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//sending "0" will reset to default exposure time
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void timedString () {
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while (Serial.available() == 0) {
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//Wait for timed string
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}
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timed_str = Serial.readString();
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timed_val = timed_str.toInt();
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if (timed_val < 600) {
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timed_val = 600;
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timed_str = "600";
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timed = false;
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} else {
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timed_delay = timed_val - BOLEX_C;
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timed = true;
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}
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Serial.println(cmd_timed);
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log("Set exposure time to: ");
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log(timed_str);
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}
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void Serial_init () {
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Serial.begin(57600);
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Serial.flush();
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Serial.setTimeout(serialDelay);
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}
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void Pins_init () {
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pinMode(PIN_MOTOR_FORWARD, OUTPUT);
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pinMode(PIN_MOTOR_BACKWARD, OUTPUT);
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pinMode(PIN_MICRO, INPUT_PULLUP);
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pinMode(PIN_INDICATOR, OUTPUT);
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}
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void Buttons_init () {
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for (int i = 0; i < 4; i++) {
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pinMode(BUTTON[i], INPUT_PULLUP);
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}
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}
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void Btn (int index) {
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int val = digitalRead(BUTTON[index]);
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if (val != button_state[index]) {
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if (val == LOW) { // pressed
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button_time[index] = millis();
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//button_start(index);
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} else if (val == HIGH) { // not pressed
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buttontime = millis() - button_time[index];
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button_end(index, buttontime);
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}
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}
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button_state[index] = val;
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}
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/*
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* dormant for now
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* void button_start (int index) {
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if (index == 0) {
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}
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}*/
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void button_end (int index, long buttontime) {
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if (index == 0) {
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if (buttontime > 1000) {
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if (!sequence) {
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sequence = true;
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Output(2, 75);
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Frame();
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}
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} else {
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if (sequence) {
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sequence = false;
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//Output(2, 75);
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} else {
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Frame();
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}
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}
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} else if (index == 1) { //set direction
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if (buttontime < 1000) {
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cam_dir = true;
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Output(1, 500);
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} else if (buttontime > 1000) {
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cam_dir = false;
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Output(2, 250);
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}
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} else if (index == 2) { // set speed
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if (buttontime <= 1000) {
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fwd_speed = FAST_PWM;
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bwd_speed = FAST_PWM;
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Output(1, 500);
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} else if (buttontime > 1000) {
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fwd_speed = SLOW_PWM;
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bwd_speed = SLOW_PWM;
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Output(2, 250);
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}
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} else if (index == 3) { //set delay
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if (buttontime < 42) {
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seq_delay = 42;
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Output(1, 500);
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} else {
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seq_delay = buttontime;
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Output(2, 250);
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}
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}
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buttontime = 0;
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}
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void Indicator (boolean state) {
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if (state) {
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digitalWrite(PIN_INDICATOR, HIGH);
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} else {
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digitalWrite(PIN_INDICATOR, LOW);
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}
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}
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void Output (int number, int len) {
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for (int i = 0; i < number; i++) {
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Indicator(true);
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delay(len);
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Indicator(false);
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delay(42);
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}
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}
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void Frame () {
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frame_start = millis();
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if (cam_dir) {
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analogWrite(PIN_MOTOR_FORWARD, fwd_speed);
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analogWrite(PIN_MOTOR_BACKWARD, 0);
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} else {
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analogWrite(PIN_MOTOR_BACKWARD, bwd_speed);
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analogWrite(PIN_MOTOR_FORWARD, 0);
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}
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running = true;
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micro_primed = false;
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}
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boolean Read_delay () {
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if (fwd_speed == FAST_PWM) {
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if (timer - frame_start >= 300) {
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return true;
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}
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} else {
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if (timer - frame_start >= 600) {
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return true;
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}
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}
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return false;
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}
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void Watch_delay () {
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if (timer - delay_start >= seq_delay) {
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delaying = false;
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Frame();
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}
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}
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void Read_timed () {
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if (!timed_paused) {
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if (timer - frame_start > timed_open
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&& timer - frame_start < timed_open + timed_delay) {
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timed_paused = true;
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Pause_timed();
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} else if (timer - frame_start > timed_open + timed_delay) {
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micro_position = digitalRead(PIN_MICRO);
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if (micro_position == HIGH) {
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Stop();
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}
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delay(2);//smooths out signal
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}
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} if (timed_paused && timer - frame_start > timed_open + timed_delay) {
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timed_paused = false;
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Start_timed();
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}
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}
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void Pause_timed () {
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analogWrite(PIN_MOTOR_FORWARD, 0);
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analogWrite(PIN_MOTOR_BACKWARD, 0);
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}
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void Start_timed () {
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if (cam_dir) {
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analogWrite(PIN_MOTOR_FORWARD, fwd_speed);
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analogWrite(PIN_MOTOR_BACKWARD, 0);
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} else {
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analogWrite(PIN_MOTOR_BACKWARD, bwd_speed);
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analogWrite(PIN_MOTOR_FORWARD, 0);
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}
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}
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void Read_micro () {
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if (Read_delay()) {
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micro_position = digitalRead(PIN_MICRO);
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if (micro_position == LOW
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&& micro_primed == false) {
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micro_primed = true;
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} else if (micro_position == HIGH
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&& micro_primed == true) {
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Stop();
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}
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delay(2);//smooths out signal
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}
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}
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void Stop () {
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delay(10);
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analogWrite(PIN_MOTOR_FORWARD, 0);
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analogWrite(PIN_MOTOR_BACKWARD, 0);
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running = false;
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micro_primed = false;
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if (cam_dir) {
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counter += 1;
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} else {
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counter -= 1;
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}
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timed_last = timer - frame_start;
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timed_avg = (timed_avg + timed_last) / 2;
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Serial.println(cmd_camera);
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log("Frame completed");
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log(String(timed_last));
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}
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void cam_direction (boolean state) {
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cam_dir = state;
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if (state) {
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timed_open = 300;
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Serial.println(cmd_cam_forward);
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log("cam_direction -> true");
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} else {
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timed_open = 400;
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Serial.println(cmd_cam_backward);
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log("cam_direction -> false");
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}
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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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}
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