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296 lines
6.8 KiB
296 lines
6.8 KiB
#include "visca-controller.h"
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//LiquidCrystal_I2C lcd(0x27,20,4);
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SoftwareSerial visca(VISCARX, VISCATX);
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void setup() {
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Serial.begin(115200);
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while (!Serial) {
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; // wait for serial port to connect. Needed for native USB port only
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}
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for (uint8_t i = 4; i <= 12; i++) {
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pinMode(i,INPUT);
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}
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visca.begin(9600);
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initCameras();
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Serial.println("Started");
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}
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void loop() {
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handleSerialControl();
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receiveViscaData();
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handleHardwareControl();
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}
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unsigned long time_now = 0;
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bool panIdle = true;
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bool tiltIdle = true;
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int ptLow = 441;
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int ptHight = 581;
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int ptMaxSpeed = 5;
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void handleHardwareControl() {
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processPan(analogRead(PAN));
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processTilt(analogRead(TILT));
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processButtons();
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}
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void receiveViscaData() {
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static byte ndx = 0;
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byte rc;
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while (visca.available() > 0) {
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rc = visca.read();
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if (rc != 0xFF) {
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viscaMessage[ndx] = rc;
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ndx++;
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if (ndx >= numChars) {
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ndx = numChars - 1;
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}
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}
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else {
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for (uint8_t i = 0; i < ndx; i++) {
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Serial.print("0x");
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Serial.print(viscaMessage[i], HEX);
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Serial.print(" ");
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}
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Serial.println("0xFF");
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ndx = 0;
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byte packet[3] = { 0x10, 0x41, 0xFF };
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visca.write(packet, 3);
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}
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}
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}
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void handleSerialControl() {
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if (Serial.available() > 0)
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{
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char inChar = Serial.read(); // read incoming serial data:
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switch(inChar) {
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// General/Toggles
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case '1':
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initCameras();
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break;
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case '2':
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toggleFocusControl();
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break;
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case '8':
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sendViscaPacket(callLedOn, sizeof(callLedOn));
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break;
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case '9':
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sendViscaPacket(callLedBlink, sizeof(callLedBlink));
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break;
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case '0':
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sendViscaPacket(callLedOff, sizeof(callLedOff));
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break;
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// Pan/Tilt
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case 'q':
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sendViscaPacket(panUpLeft, sizeof(panUpLeft));
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break;
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case 'w':
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sendViscaPacket(panUp, sizeof(panUp));
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break;
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case 'e':
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sendViscaPacket(panUpRight, sizeof(panUpRight));
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break;
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case 'a':
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sendViscaPacket(panLeft, sizeof(panLeft));
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break;
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case 's':
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sendViscaPacket(panStop, sizeof(panStop));
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break;
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case 'd':
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sendViscaPacket(panRight, sizeof(panRight));
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break;
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case 'z':
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sendViscaPacket(panDownLeft, sizeof(panDownLeft));
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break;
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case 'x':
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sendViscaPacket(panDown, sizeof(panDown));
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break;
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case 'c':
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sendViscaPacket(panDownRight, sizeof(panDownRight));
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break;
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// Zoom
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case 'r':
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sendViscaPacket(zoomTele, sizeof(zoomTele));
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break;
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case 'f':
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sendViscaPacket(zoomStop, sizeof(zoomStop));
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break;
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case 'v':
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sendViscaPacket(zoomWide, sizeof(zoomWide));
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break;
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// Focus
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case 't':
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sendViscaPacket(focusFar, sizeof(focusFar));
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break;
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case 'g':
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sendViscaPacket(focusStop, sizeof(focusStop));
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break;
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case 'b':
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sendViscaPacket(focusNear, sizeof(focusNear));
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break;
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}
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}
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}
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void processButtons() {
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int globalSpeed = analogRead(ZOOM);
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int zoomSpeed = map(globalSpeed, 0, 1023, 0, 15);
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if(millis() > time_now + 100) {
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time_now = millis();
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if((bool) digitalRead(BTN1) == true) {
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sendViscaPacket(zoomStop, sizeof(zoomStop));
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}
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if((bool) digitalRead(BTN2) == true) {
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uint8_t zoomDirSpeed = (uint8_t) 0x20 + zoomSpeed;
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zoom[4] = zoomDirSpeed;
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sendViscaPacket(zoom, sizeof(zoom));
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}
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if((bool) digitalRead(BTN3) == true) {
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uint8_t zoomDirSpeed = (uint8_t) 0x30 + zoomSpeed;
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zoom[4] = zoomDirSpeed;
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sendViscaPacket(zoom, sizeof(zoom));
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}
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}
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}
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void processPan(int pan) {
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if(pan < ptLow || ptHight < pan) {
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uint8_t panSpeed;
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if(pan < ptLow) {
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// Left
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panSpeed = map(pan, ptLow, 0, 0, ptMaxSpeed);
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panTilt[6] = 0x01;
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} else {
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panSpeed = map(pan, ptHight, 1018, 0, ptMaxSpeed);
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// Right
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panTilt[6] = 0x02;
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}
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if(panTilt[4] != panSpeed) {
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panTilt[4] = panSpeed;
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sendViscaPacket(panTilt, sizeof(panTilt), true);
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}
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panIdle = false;
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} else {
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// Stop Pan
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panTilt[4] = 0x00;
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panTilt[6] = 0x03;
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if(panIdle == false) {
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sendViscaPacket(panTilt, sizeof(panTilt), true);
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panIdle = true;
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}
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}
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}
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void processTilt(int tilt) {
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if(tilt < ptLow || ptHight < tilt) {
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uint8_t tiltSpeed;
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if(tilt < ptLow) {
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// Down
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tiltSpeed = map(tilt, ptLow, 0, 0, ptMaxSpeed);
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panTilt[7] = 0x02;
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} else {
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// Up
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tiltSpeed = map(tilt, ptHight, 1018, 0, ptMaxSpeed);
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panTilt[7] = 0x01;
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}
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if(panTilt[5] != tiltSpeed) {
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panTilt[5] = tiltSpeed;
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sendViscaPacket(panTilt, sizeof(panTilt), true);
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}
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tiltIdle = false;
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} else {
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// Stop Tilt
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panTilt[5] = 0x00;
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panTilt[7] = 0x03;
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if(tiltIdle == false) {
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sendViscaPacket(panTilt, sizeof(panTilt), true);
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tiltIdle = true;
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}
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}
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}
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void handleButton(uint8_t input, uint8_t bitPosition) {
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bool previousStatus = (bool) bitRead(buttonStatus, bitPosition);
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bool currentStatus = (bool) digitalRead(input);
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if(previousStatus != currentStatus) {
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if(currentStatus == true) {
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bitWrite(buttonStatus, bitPosition, (int) currentStatus);
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} else {
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}
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}
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}
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void toggleFocusControl() {
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sendViscaPacket(focusModeInq, sizeof(focusModeInq));
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delay(100);
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receiveViscaData();
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Serial.print("Current Focus Status: ");
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if(viscaMessage[2] == 2) {
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Serial.println("Auto, Toggling to manual");
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sendViscaPacket(focusManual, sizeof(focusManual));
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} else {
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Serial.println("Manual, Toggling to auto");
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sendViscaPacket(focusAuto, sizeof(focusAuto));
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}
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}
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void sendViscaPacket(byte* packet, int byteSize, bool echoCommand, bool sendPacket) {
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if(echoCommand == true) {
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Serial.print("Sending:");
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}
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for (int i = 0; i < byteSize; i++)
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{
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if(echoCommand == true) {
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Serial.print(" 0x");
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Serial.print(packet[i], HEX);
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}
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if(sendPacket == true) {
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visca.write(packet[i]);
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}
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}
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// visca.write(byte 0xFF);
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if(echoCommand == true) {
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Serial.println();
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}
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}
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void initCameras() {
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//Send Address command
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Serial.println("Setting addresses...");
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sendViscaPacket(address_command, sizeof(address_command));
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delay(delayTime); //delay to allow camera time for next command
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receiveViscaData();
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// Turn off IR control
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Serial.println("Disabling IR control...");
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sendViscaPacket(ir_off, sizeof(ir_off));
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delay(delayTime); //delay to allow camera time for next command
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receiveViscaData();
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//Send IF_clear command
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Serial.println("Sending IF_Clear...");
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sendViscaPacket(if_clear, sizeof(if_clear));
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delay(delayTime); //delay to allow camera time for next command
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receiveViscaData();
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}
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