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| /* | ||
| Timelapse Dolly - Automation, Systemer og Komponenter | ||
| @version 2.1 | ||
| @date 2014-05-05 | ||
| @author Peter Savnik | ||
| @Description | ||
| Make a step motor control motion of a Camera mounted on a dolly. | ||
| Input: Distance and Time | ||
| */ | ||
| #include <math.h> | ||
| #include <Keypad.h> | ||
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| const int DEBUG = 0; // Toogle Serial output | ||
| const int PIN_RUN = 8; | ||
| const int PIN_STEP = 9; | ||
| const int PIN_ENABLE = A0; | ||
| const int PIN_TIME_SCALE_POT = A1; | ||
| const float Pi = 3.14159; | ||
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| const float STEP_RES = 16.0; // Stepper resolution | ||
| const float STEPS_PR_ROUND = 200.0*STEP_RES; // Total steps pr. round | ||
| const float RADIUS = 0.0272; // [m] | ||
| const float DIST_PR_STEP = (2.0*RADIUS*Pi)/STEPS_PR_ROUND; //[cm] Omkreds/steps pr round | ||
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| float distance = 0.0; // [m] Record the number of steps we've taken | ||
| float distance_to_go = 1.0; // [m] | ||
| long steps_to_go = (distance_to_go)/DIST_PR_STEP; // total amount of steps to the distance_to_go | ||
| float time_to_go = 60; // [s] time to do the distance | ||
| int steps = 0; // Total count of steps | ||
| int run = 0; // Control var for start/stop fcn | ||
| int dir = 1; // Control direction | ||
| int sensorValue = 0; // Time scale pot sensor | ||
| int stepState = 0; // Step output state | ||
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| String state = "IDLE", next_state = "IDLE"; // Statemachine control | ||
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| float time_pr_step; | ||
| float time_pr_step_ms; | ||
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| unsigned long current_time = 0; | ||
| unsigned long prev_time = 0; | ||
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| void setup() { | ||
| Serial.begin(9600); | ||
| while(!Serial){ | ||
| ; // wait for serial to begin | ||
| } | ||
| Serial.println('Timelapse Dolly Start'); | ||
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| pinMode(PIN_RUN, INPUT_PULLUP); | ||
| pinMode(PIN_STEP, OUTPUT); | ||
| pinMode(PIN_ENABLE, OUTPUT); | ||
| pinMode(PIN_TIME_SCALE_POT, INPUT); | ||
| digitalWrite(PIN_STEP, LOW); | ||
| digitalWrite(PIN_ENABLE, HIGH); | ||
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| //establishContact(); // send a byte to establish contact until receiver responds | ||
| } | ||
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| void loop() { | ||
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| run = digitalRead(PIN_RUN); | ||
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| // Statemachine! | ||
| if (state == "IDLE"){ | ||
| // Wait for action | ||
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| // Calc delay time | ||
| float time_pr_step = time_to_go/steps_to_go; // the delay time between steps | ||
| float time_pr_step_ms = time_pr_step*pow(10,3); // Convert to millisec | ||
| if (time_pr_step_ms < 1) time_pr_step_ms = 1; // Don't go too fast! | ||
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| // Print Parameters | ||
| Serial.print("Dist: "); | ||
| Serial.print(distance_to_go); | ||
| Serial.print(", Steps to go:"); | ||
| Serial.print(steps_to_go); | ||
| Serial.print(", Time: "); | ||
| Serial.print(time_to_go); | ||
| Serial.print(", Step Time: "); | ||
| Serial.println(time_pr_step_ms); | ||
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| // Change state | ||
| // Start running | ||
| if(run == LOW){ | ||
| Serial.println("Next state: MOVE!"); | ||
| digitalWrite(PIN_ENABLE, LOW); | ||
| next_state = "MOVE"; | ||
| } | ||
| else{ | ||
| next_state = "IDLE"; | ||
| } | ||
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| } | ||
| else if (state == "MOVE"){ | ||
| // MOVE | ||
| // Check to see if we are at the end of our move | ||
| time_pr_step = 1; | ||
| if ((steps*DIST_PR_STEP < distance_to_go) && (run == LOW)) { | ||
| current_time = millis(); | ||
| if(current_time-prev_time >= time_pr_step/2){ | ||
| // Step toogle | ||
| if(stepState == 0){ | ||
| digitalWrite(PIN_STEP, HIGH); // step high | ||
| stepState = 1; | ||
| } | ||
| else if(stepState == 1){ | ||
| digitalWrite(PIN_STEP, LOW); // step low | ||
| stepState = 0; | ||
| steps = 1+steps; // Incremetent steps | ||
| Serial.println(steps_to_go-steps); | ||
| } | ||
| prev_time = current_time; | ||
| } | ||
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| } | ||
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| // Change state | ||
| if(run == HIGH){ // Stop running | ||
| next_state = "IDLE"; | ||
| digitalWrite(PIN_ENABLE, HIGH); | ||
| } | ||
| else{ | ||
| next_state = "MOVE"; // Stay in state | ||
| } | ||
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| } | ||
| else { | ||
| Serial.print("Error in statemachine: "); | ||
| Serial.println(state); | ||
| } | ||
| if(state != next_state) Serial.println(next_state); | ||
| state = next_state; | ||
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| /* | ||
| // If dist is done disable | ||
| if ((steps*DIST_PR_STEP >= distance_to_go)){ | ||
| disableMotor(); | ||
| steps = 0; | ||
| } | ||
| */ | ||
| } | ||
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| void enableMotor(){ | ||
| // Enable motor driver | ||
| digitalWrite(PIN_ENABLE, LOW); | ||
| if(DEBUG == 1) Serial.println("Start"); | ||
| } | ||
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| void disableMotor(){ | ||
| // Enable motor driver | ||
| digitalWrite(PIN_ENABLE, HIGH); | ||
| if(DEBUG == 1) Serial.println("Stop"); | ||
| } | ||
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| void enableMotorToogle(){ | ||
| // Enable motor driver | ||
| if(run == 0){ | ||
| enableMotor(); | ||
| run = 1; | ||
| } | ||
| else if(run == 1){ | ||
| disableMotor(); | ||
| run = 0; | ||
| } | ||
| } | ||
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| void establishContact() { | ||
| while (Serial.available() <= 0) { | ||
| Serial.println("0,0,0"); // send an initial string | ||
| delay(300); | ||
| } | ||
| } | ||
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| /* | ||
| || @changelog | ||
| || | 2.1 2014-05-08 - Peter Savnik : Dist is calibrated | ||
| || | 2.0 2014-05-06 - Peter Savnik : Added state machine & Millis as delay | ||
| || | 1.3 2014-05-05 - Peter Savnik : Added Potentiometer control of time | ||
| || | 1.2 2014-05-01 - Peter Savnik : Added Debug function, enable serial output when debugging | ||
| || | 1.1 2014-05-01 - Peter Savnik : Added direction control | ||
| || | 1.0 2014-05-01 - Peter Savnik : Initial Release | ||
| || # | ||
| */ | ||
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