Brian BrockenAdded a code contribution from Ryan Hashiro to the files section on this page.
Code:
/*
Original code By Brian Brocken
Contribution By Ryan Hashiro:
1. Added library calls and setups for an LCD with I2C backpack.
2. Added fast value change routines for the number of photogrammetry pics, motor speed, and cinematic turns. Holding joystick deflection for > 1 sec enters fast change mode. Change rate is proportional to amount of deflection. For the motor speed change is fixed at the slow speed since there's only 17 values to go through.
3. Added cancel routines for the photogrammetry and cinematic modes. Holding the joystick button down for > 2 sec kicks you out of the operation modes.
*/
// #include <LiquidCrystal.h> // use this library for the standard (non I2C) LCD
#include <LiquidCrystal_I2C.h> // RH - use this library for LCD displays with I2C backpack
#include <Wire.h> // RH - needed for the LCD I2C library. SCL connects to pin A5. SDA connects to pin A4. Jumper the LED backlight pin on the I2C board
#include <Stepper.h>
#include <Servo.h>
// LiquidCrystal lcd(1, 2, 4, 5, 6, 7); // Use these pins for the 1602 lcd
LiquidCrystal_I2C lcd(0x27, 16, 2); // RH - use this for I2C LCD. Assumes default address of 0x27
const int SW_pin = 8; // digital pin connected to switch output
const int X_pin = A0; // analog pin connected to X output
const int Y_pin = A1; // analog pin connected to Y output
int MenuNr = 0; // Menu number
int PhotoNr = 2; // The amount of photos that have to be taken
bool Flag1 = 0; // This flag is only active during 1 program cycle (prevents constantly adding/subtracting 1 to the menu number when the joystick is pushed to the side)
bool Flag2 = 0; // This flag is only active during 1 program cycle (prevents constantly adding/subtracting 2 to the photo number when the joystick is pushed up or down)
bool Flag3 = 0; // This flag is only active during 1 program cycle (prevents constantly adding/subtracting 1 to the RPM when the joystick is pushed up or down)
bool Flag4 = 0; // This flag is only active during 1 program cycle (prevents constantly adding/subtracting 1 to the turn number when the joystick is pushed to the side)
bool Flag5 = 0; // This flag is only active during 1 program cycle (prevents constantly adding/subtracting 1 to the RPM when the joystick is pushed up or down)
bool Flag6 = 0; // This flag is only active during 1 program cycle to clear the lcd
int SwMenu = 0; // Switch menu (Sub menu's in the main menu's)
bool BtnFlag = 0; // This flag is only active during 1 program cycle (prevents constantly adding of 1 to SwMenu when button is pressed)
// RH - added variables for fast change & cancel modes
int FastChng = 0; // indicates fast change value mode. 0 = off, 1 = delay mode, 2 = fast changing mode
const unsigned long FastDelay = 1000; // delay mode time (before values change fast)
const unsigned long ShortInt = 100; // short fast change interval
const unsigned long LongInt = 300; // long fast change interval
const unsigned long BtnDelay = 2000; // delay for button press to cancel operations. Note this is an approximate delay, since stepper motor
// suspends all program execution until motor finishes its move
unsigned long SetTime = 0; // time value for fast change & button cancel modes. Used to calculate time intervals
bool BtnCancelFlag = 0; // This flag is used to detect when button is pressed for canceling operations
bool MaxSwMenu = 0; // This flag is used for detecting when the maximum SwMenu is reached
bool CinCancelFlag = 0; // This flag is used to trigger cinematic cancel. 1 = cancel cinematic operation
int StepPoll = 480; // number of motor steps to poll for cinematic cancel (at 15 rpm)
int Cntr = 0; // step counter for cinematic motor cancel
// RH - end of added variables
const int stepsPerRevolution = 2048; // change this to fit the number of steps per revolution
int FullRev = 14336; // 1 full revolution of the big gear -> Small-Big gear ratio is 7:1
int rolePerMinute = 15; // Adjustable range of 28BYJ-48 stepper is 0~17 rpm
int PhotoTaken = 0; // Amount of photo's that have been taken
int StepPerPhoto; // Amount of steps per photo (calculated -> see MenuNr 0/SwMenu 2)
int TurnNr = 1; // Amount of turns
int CurrentTurn = 0; // Stores current turn number
int Steps = 0; // Amount of individual steps the stepper motor has to turn
Stepper myStepper(stepsPerRevolution, 9, 11, 10, 12); // Use these pins for the stepper motor
Servo Servo1; // Define Servo1 as a servo
void setup() {
//lcd.begin(16, 2); //Lcd setup for standard (non I2C) LCD connection
lcd.init(); // RH - I2C LCD init command
lcd.backlight(); // RH - I2C LCD turn backlight on
pinMode(SW_pin, INPUT); //Set pushbutton as input
digitalWrite(SW_pin, HIGH); //Set SW_pin High
myStepper.setSpeed(rolePerMinute); //Set RPM of steppermotor
Servo1.attach(3); //Attach servo to pin 3
Servo1.write(90); //Move servo to mid possition
lcd.setCursor(4, 0); //Startup screen start
lcd.print("Welcome!"); // """"" //
lcd.setCursor(1, 1); // """"" //
lcd.print("Software: V1.6"); // """"" //
delay(3000); // """"" //
lcd.clear(); // """"" //
lcd.setCursor(0, 0); // """"" //
lcd.print("Designed by"); // """"" //
lcd.setCursor(0, 1); // """"" //
lcd.print("Brian Brocken"); // """"" //
delay(2000); // """"" //
lcd.clear(); //Startup screen end
}
void loop() {
int XValue = analogRead(X_pin); // Read the analog value from The X-axis from the joystick
int YValue = analogRead(Y_pin); // Read the analog value from The Y-axis from the joystick
int SwValue = digitalRead(SW_pin); // Read the digital value from The Button from the joystick
if (MenuNr < 0){ //This sets the min number of menu's
MenuNr = 0;
}
else if ( MenuNr > 2){ //This sets the max numbers of menu's
MenuNr = 2;
}
if (XValue < 400 && Flag1 == 0 && SwMenu == 0){ //if the joystick is pushed to the right side and flag1 is 0 then 1 will be added to the menu number (purpose of the flag -> see comment Flags above)
MenuNr = MenuNr + 1;
Flag1 = 1;
lcd.clear();
}
if (XValue > 600 && Flag1 == 0 && SwMenu == 0){ //if the joystick is pushed to the left side and flag1 is 0 then 1 will be subtracted from the menu number (purpose of the flag -> see comment Flags above)
MenuNr = MenuNr - 1;
Flag1 = 1;
lcd.clear();
}
if (XValue > 399 && XValue < 599 && Flag1 == 1){ //if joystick is at neutral possition, flag1 is set to 0 (purpose of the flag -> see comment Flags above)
Flag1 = 0;
}
if (SwValue == 0 && BtnFlag == 0 && MaxSwMenu == 0){ //if the button is pressed and the flag is 0 -> add 1 to menu
SwMenu = SwMenu + 1;
BtnFlag = 1;
BtnCancelFlag = 0;
lcd.clear();
}
if (SwValue == 1 && BtnFlag == 1){ //if the button is not pressed and the flag is 0 -> Reset the flag (purpose of the flag -> see comment Flags above)
BtnFlag = 0;
}
//***********************************************Menu0***********************************************//
if (MenuNr == 0){ //Menu0 program
if (SwMenu == 0){ //Menu 0 selected
lcd.setCursor(0, 0);
lcd.print("Photogrametry");
}
if (SwMenu == 1){ //entered menu 0
lcd.setCursor(0, 0);
lcd.print("Nr of photo's");
lcd.setCursor(7, 1);
lcd.print(PhotoNr);
if (FastChng == 0) { // RH - if not in fast change mode, update set time
SetTime = millis();
}
if (YValue < 400 && Flag2 == 0){ //joystick up -> Add 2 to number of photo's
PhotoNr = PhotoNr + 2;
Flag2 = 1;
FastChng = 1;
lcd.clear();
}
if (YValue > 600 && Flag2 == 0){ //joystick down -> Subtract 2 from number of photo's
PhotoNr = PhotoNr - 2;
Flag2 = 1;
FastChng = 1;
lcd.clear();
}
if (YValue > 399 && YValue < 599 && Flag2 == 1){ //if the Y-axis is back at it's neutral possition -> Flag3 = 0 -> Prevents constant adding or subtracting of 2
Flag2 = 0;
FastChng = 0;
}
if (YValue < 400 && FastChng == 1) { // RH - if joystick up is held for > the fast delay time, then enter fast change mode
if ((millis() - SetTime) > FastDelay) {
FastChng = 2;
SetTime = millis(); // update the set time
}
}
if (YValue > 600 && FastChng == 1) { // RH - if joystick down is held for > the fast delay time, then enter fast change mode
if ((millis() - SetTime) > FastDelay) {
FastChng = 2;
SetTime = millis(); // update the set time
}
}
if (YValue < 400 && FastChng == 2) { // RH - we are in fast change mode, so we want to update the values quickly, proportional between
if ((millis() - SetTime) > (LongInt - (400 - YValue) * (LongInt - ShortInt) / 400)) { // ShortInt and LongInt based on joystick deflection
PhotoNr = PhotoNr + 2;
SetTime = millis();
lcd.clear();
}
}
if (YValue > 600 && FastChng == 2) { // RH - same for joystick down in fast change mode
if ((millis() - SetTime) > (LongInt - (YValue - 600) * (LongInt - ShortInt) / 400)) {
PhotoNr = PhotoNr - 2;
SetTime = millis();
lcd.clear();
}
}
if (PhotoNr < 2){ //Min allowable Nr of photo's
PhotoNr = 2;
}
if (PhotoNr > 200){ //Max allowable Nr of photo's
PhotoNr = 200;
}
}
if (SwMenu == 2){ //Program started
MaxSwMenu = 1;
lcd.setCursor(0, 0);
lcd.print("Program started");
lcd.setCursor(0, 1);
lcd.print("Photo Nr: ");
lcd.print(PhotoTaken);
StepPerPhoto = FullRev / PhotoNr; //Calculate amount of steps per photo
if (PhotoTaken < PhotoNr){
myStepper.setSpeed(rolePerMinute); //Set motor speed
myStepper.step(StepPerPhoto); //move the calculated amount of steps
PhotoTaken = PhotoTaken + 1; //Add 1 to photos taken
lcd.setCursor(0, 1);
lcd.print("Photo Nr: "); //Taking photo's
lcd.print(PhotoTaken);
Servo1.write(30);
delay(300);
Servo1.write(90);
delay(1000);
}
if (PhotoTaken == PhotoNr){ //If the amount of photos taken is equal to the amount of photos that have to be taken -> Program finished
lcd.setCursor(0, 0);
lcd.print("Program finished");
delay(3000);
lcd.clear(); //Rest parameters
PhotoTaken = 0;
PhotoNr = 2;
SwMenu = 0;
MaxSwMenu = 0;
Steps = 0;
}
// RH NOTE - cancelling works but delay is longer than expected since stepper motor movement is blocking
if (SwValue == 0 && BtnCancelFlag == 0) { // if button is pressed, start timing for cancel
BtnCancelFlag = 1;
SetTime = millis();
}
if (SwValue == 1 && BtnCancelFlag == 1) { // RH - if button released before BtnDelay, then reset flag
BtnCancelFlag = 0;
}
if (SwValue == 0 && BtnCancelFlag == 1 && ((millis() - SetTime) > BtnDelay)) { // RH - button has been held for > BtnDelay, so cancel operation
lcd.clear();
lcd.setCursor(0, 0);
lcd.print("Program cancel");
delay(3000);
lcd.clear();
PhotoTaken = 0;
PhotoNr = 2;
SwMenu = 0;
MaxSwMenu = 0;
Steps = 0;
BtnCancelFlag = 0;
}
}
}
//***********************************************Menu1***********************************************//
if (MenuNr == 1){ //Menu1 program
if (SwMenu == 0){ //Menu1 selected
lcd.setCursor(0, 0);
lcd.print("Cinematic");
CinCancelFlag = 0;
Cntr = 0;
}
if (SwMenu == 1){ //Entered menu1 - sub menu1
lcd.setCursor(0, 0);
lcd.print("motor speed");
lcd.setCursor(7, 1);
lcd.print(rolePerMinute);
if (FastChng == 0) { // RH - if not in fast change mode, update set time
SetTime = millis();
}
if (YValue < 400 && Flag3 == 0){ // joystick up -> Add 1 RPM
rolePerMinute = rolePerMinute + 1;
Flag3 = 1;
FastChng = 1;
lcd.clear();
}
if (YValue > 600 && Flag3 == 0){ // joystick down -> Subtract 1 RPM
rolePerMinute = rolePerMinute - 1;
Flag3 = 1;
FastChng = 1;
lcd.clear();
}
if (YValue > 399 && YValue < 599 && Flag3 == 1){ //if the Y-axis is back at it's neutral possition -> Flag3 = 0 -> Prevents constant adding or subtracting of 1
Flag3 = 0;
FastChng = 0;
}
if (YValue < 400 && FastChng == 1) { // RH - if joystick up is held for > the fast delay time, then enter fast change mode
if ((millis() - SetTime) > FastDelay) {
FastChng = 2;
SetTime = millis(); // update the set time
}
}
if (YValue > 600 && FastChng == 1) { // RH - if joystick down is held for > the fast delay time, then enter fast change mode
if ((millis() - SetTime) > FastDelay) {
FastChng = 2;
SetTime = millis(); // update the set time
}
}
if (YValue < 400 && FastChng == 2) { // RH - we are in fast change mode, so we want to update the values at the LongInt interval
if ((millis() - SetTime) > LongInt) { // (using fixed LongInt since not that many values to cycle through)
rolePerMinute = rolePerMinute + 1;
SetTime = millis();
lcd.clear();
}
}
if (YValue > 600 && FastChng == 2) { // RH - same for joystick down in fast change mode
if ((millis() - SetTime) > LongInt) {
rolePerMinute = rolePerMinute - 1;
SetTime = millis();
lcd.clear();
}
}
if (rolePerMinute < 1){ //Min allowable RPM
rolePerMinute = 1;
}
if (rolePerMinute > 17){ //Max allowable RPM
rolePerMinute = 17;
}
}
if (SwMenu == 2){ //Entered menu1 - sub menu2
lcd.setCursor(0, 0);
lcd.print("Nr of turns");
lcd.setCursor(7, 1);
lcd.print(TurnNr);
if (FastChng == 0) { // RH - if not in fast change mode, update set time
SetTime = millis();
}
if (YValue < 400 && Flag4 == 0){ // joystick up -> Add 1 turn
TurnNr = TurnNr + 1;
Flag4 = 1;
FastChng = 1;
lcd.clear();
}
if (YValue > 600 && Flag4 == 0){ // joystick down -> Subtract 1 turn
TurnNr = TurnNr - 1;
Flag4 = 1;
FastChng = 1;
lcd.clear();
}
if (YValue > 399 && YValue < 599 && Flag4 == 1){ //if the Y-axis is back at it's neutral possition -> Flag3 = 0 -> Prevents constant adding or subtracting of 1
Flag4 = 0;
FastChng = 0;
}
if (YValue < 400 && FastChng == 1) { // RH - if joystick up is held for > the fast delay time, then enter fast change mode
if ((millis() - SetTime) > FastDelay) {
FastChng = 2;
SetTime = millis(); // update the set time
}
}
if (YValue > 600 && FastChng == 1) { // RH - if joystick down is held for > the fast delay time, then enter fast change mode
if ((millis() - SetTime) > FastDelay) {
FastChng = 2;
SetTime = millis(); // update the set time
}
}
if (YValue < 400 && FastChng == 2) { // RH - we are in fast change mode, so we want to update the values quickly, proportional between
if ((millis() - SetTime) > (LongInt - (400 - YValue) * (LongInt - ShortInt) / 400)) { // ShortInt and LongInt based on joystick deflection
TurnNr = TurnNr + 1;
SetTime = millis();
lcd.clear();
}
}
if (YValue > 600 && FastChng == 2) { // RH - same for joystick down in fast change mode
if ((millis() - SetTime) > (LongInt - (YValue - 600) * (LongInt - ShortInt) / 400)) {
TurnNr = TurnNr - 1;
SetTime = millis();
lcd.clear();
}
}
if (TurnNr < 1){ //Min allowable amount of turns
TurnNr = 1;
}
if (TurnNr > 200){ //Max allowable amount of turns
TurnNr = 200;
}
}
if (SwMenu == 3){ //Program started
MaxSwMenu = 1;
StepPoll = 32 * rolePerMinute; // RH - set polling rate StepPoll = number of steps per second (roughly)
lcd.setCursor(0, 0);
lcd.print("Program started");
lcd.setCursor(0, 1);
lcd.print("Turns done: ");
lcd.print(CurrentTurn);
if (CurrentTurn < TurnNr){
myStepper.setSpeed(rolePerMinute);
Cntr = 0; // RH - initialize step counter
while ((Cntr <= FullRev) && (CinCancelFlag == 0)) {
myStepper.step(StepPoll); // RH - breaking up plate rotation into roughly 1 sec intervals to check for cancel
Cntr = Cntr + StepPoll;
SwValue = digitalRead(SW_pin);
if (SwValue == 0 && BtnCancelFlag == 0) { // RH - check if button is pressed, if so start timing for cancel
BtnCancelFlag = 1;
SetTime = millis();
}
if (SwValue == 1 && BtnCancelFlag == 1) { // RH - if button released before BtnDelay, then reset button flag
BtnCancelFlag = 0;
}
if (SwValue == 0 && BtnCancelFlag == 1 && ((millis() - SetTime) > BtnDelay)) { // RH - button has been held for > BtnDelay, so cancel operation
CinCancelFlag = 1;
CurrentTurn = TurnNr;
}
}
if (CinCancelFlag == 0) { // RH - operation not cancelled, so continue
myStepper.step(FullRev + StepPoll - Cntr); // RH - need to move remainder of steps for 1 full turn due to kickout from while loop
CurrentTurn = CurrentTurn + 1;
lcd.setCursor(0, 1);
lcd.print("Turns done: ");
lcd.print(CurrentTurn);
}
}
if (CurrentTurn == TurnNr){ //If the current turn is equal to the amount of thurns that need to be turned -> program finished (RH - or cancelled)
lcd.setCursor(0, 0);
if (CinCancelFlag == 0) {
lcd.print("Program finished");
}
else {
lcd.clear();
lcd.print("Program cancel");
}
delay(3000);
lcd.clear(); //Reset
CurrentTurn = 0;
PhotoNr = 1;
rolePerMinute = 15;
SwMenu = 0;
MaxSwMenu = 0;
CinCancelFlag = 0;
Steps = 0;
}
}
}
//***********************************************Menu2***********************************************//
if (MenuNr == 2){ //Menu2 selected
if (SwMenu == 0){
lcd.setCursor(0, 0);
lcd.print("Manual control");
}
if (SwMenu == 1){ //Entered menu2
lcd.setCursor(0, 0);
lcd.print("motor speed");
lcd.setCursor(7, 1);
lcd.print(rolePerMinute);
if (FastChng == 0) { // RH - if not in fast change mode, update set time
SetTime = millis();
}
if (YValue < 400 && Flag5 == 0){ // joystick up -> Add 1 RPM
rolePerMinute = rolePerMinute + 1;
Flag5 = 1;
FastChng = 1;
lcd.clear();
}
if (YValue > 600 && Flag5 == 0){ // joystick down -> Subtract 1 RPM
rolePerMinute = rolePerMinute - 1;
Flag5 = 1;
FastChng = 1;
lcd.clear();
}
if (YValue > 399 && YValue < 599 && Flag5 == 1){ //if the Y-axis is back at it's neutral possition -> Flag3 = 0 -> Prevents constant adding or subtracting of 1
Flag5 = 0;
FastChng = 0;
}
if (YValue < 400 && FastChng == 1) { // RH - if joystick up is held for > the fast delay time, then enter fast change mode
if ((millis() - SetTime) > FastDelay) {
FastChng = 2;
SetTime = millis(); // update the set time
}
}
if (YValue > 600 && FastChng == 1) { // RH - if joystick down is held for > the fast delay time, then enter fast change mode
if ((millis() - SetTime) > FastDelay) {
FastChng = 2;
SetTime = millis(); // update the set time
}
}
if (YValue < 400 && FastChng == 2) { // RH - we are in fast change mode, so we want to update the values at the LongInt interval
if ((millis() - SetTime) > LongInt) { // (using fixed LongInt since not that many values to cycle through)
rolePerMinute = rolePerMinute + 1;
SetTime = millis();
lcd.clear();
}
}
if (YValue > 600 && FastChng == 2) { // RH - same for joystick down in fast change mode
if ((millis() - SetTime) > LongInt) {
rolePerMinute = rolePerMinute - 1;
SetTime = millis();
lcd.clear();
}
}
if (rolePerMinute < 1){ //Min allowable RPM
rolePerMinute = 1;
}
if (rolePerMinute > 17){ //Max allowable RPM
rolePerMinute = 17;
}
if (XValue < 400 ){ //if the joystick is pushed to the right side and the neutral flag is 0 then 1 will be added to the menu number (purpose of the flag -> see comment Flag1 above)
Steps = Steps + 1;
myStepper.setSpeed(rolePerMinute);
myStepper.step(Steps);
lcd.setCursor(14, 1);
lcd.print("->");
Flag6 = 1;
}
if (XValue > 600 ){ //if the joystick is pushed to the left side and the neutral flag is 0 then 1 will be subtracted from the menu number (purpose of the flag -> see comment Flag1 above)
Steps = Steps + 1;
myStepper.setSpeed(rolePerMinute);
myStepper.step(-Steps);
lcd.setCursor(0, 1);
lcd.print("<-");
Flag6 = 1;
}
if (XValue > 399 && XValue < 599){ //if the Y-axis is back at it's neutral possition -> Flag3 = 0 -> Prevents constant adding or subtracting of 1
Steps = 0;
if (Flag6 == 1){
lcd.clear();
Flag6 = 0; //This flag is only active during 1 program cycle to clear the lcd
}
}
}
if (SwMenu == 2){ //Leave menu 2 when button is pressed
lcd.clear();
CurrentTurn = 0;
PhotoNr = 1;
rolePerMinute = 15;
SwMenu = 0;
Steps = 0;
}
}
}
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