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Adquirido actuador lineal con potenciometro y visualizacion de numero de frames capturados

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This commit is contained in:
Miguel Angel de Heras 2025-03-03 10:42:59 +01:00
parent 5739b351da
commit 16cd3e3bd1
8 changed files with 69 additions and 113 deletions
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2
CraterLab_camera/.gitignore vendored
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@ -1,2 +1,2 @@
.pio .pio
.vscode .vscode

2
CraterLab_camera/include/constants.h
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@ -38,5 +38,5 @@
#define sensor_lineal_motor A0 #define sensor_lineal_motor A0
//Definicion de los limites del sensor lineal //Definicion de los limites del sensor lineal
#define LINEAL_MAX 478 #define LINEAL_MAX 4*478
#define LINEAL_MIN 0 #define LINEAL_MIN 0

27
CraterLab_camera/include/interface.html
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@ -129,7 +129,8 @@ const char *htmlTemplate = R"rawliteral(
<div class="section"> <div class="section">
<!-- Sección Motor Cámara --> <!-- Sección Motor Cámara -->
<h3>Motor Cámara</h3> <h3>Motor Cámara</h3>
<h4>Counter</h4>
<input type='number' id='frames'>
<h4>Speed</h4> <h4>Speed</h4>
<label for='fps'>FPS:</label> <label for='fps'>FPS:</label>
<input type='range' min='0' max='48' value='24' id='speedSlider'> <input type='range' min='0' max='48' value='24' id='speedSlider'>
@ -158,11 +159,11 @@ const char *htmlTemplate = R"rawliteral(
<!-- Sección Shutter --> <!-- Sección Shutter -->
<h3>Shutter</h3> <h3>Shutter</h3>
<h4>Fade In/Out Frames:</h4> <h4>Fade In/Out Frames:</h4>
<p>% apertura inicial: <span id='fadePercentDisplay'>50</span></p> <p>% apertura inicial: <span id='fadePercentDisplay'>0</span></p>
<input type='range' min='0' max='100' value='50' id='fadePercentSlider'> <input type='range' min='0' max='100' value='0' id='fadePercentSlider'>
<input type='number' id='fade'> <input type='number' id='fade'>
<p>Número de frames: <span id='fadeFramesDisplay'>50</span></p> <p>Número de frames: <span id='fadeFramesDisplay'>10</span></p>
<input type='range' min='0' max='100' value='50' id='fadeFramesSlider'> <input type='range' min='0' max='100' value='10' id='fadeFramesSlider'>
<h4>Fade Activación:</h4> <h4>Fade Activación:</h4>
<input type='checkbox' id='fadeInCheckbox'> Activar Fade In <input type='checkbox' id='fadeInCheckbox'> Activar Fade In
@ -403,7 +404,7 @@ const char *htmlTemplate = R"rawliteral(
document.getElementById('zoomSlider').addEventListener('input', updateDisplay); document.getElementById('zoomSlider').addEventListener('input', updateDisplay);
document.getElementById('focusSlider').addEventListener('input', updateDisplay); document.getElementById('focusSlider').addEventListener('input', updateDisplay);
// pide motorSpeed al M7 //pide motorSpeed al M7
function updateMotorSpeed() { function updateMotorSpeed() {
fetch('/motorSpeed') fetch('/motorSpeed')
.then(response => response.json()) .then(response => response.json())
@ -413,6 +414,15 @@ const char *htmlTemplate = R"rawliteral(
.catch(error => console.error('Error al obtener motorSpeed:', error)); .catch(error => console.error('Error al obtener motorSpeed:', error));
} }
function updateFramesCount() {
fetch('/framesCount')
.then(response => response.json())
.then(data => {
document.getElementById('frames').value = data.framesCountRead;
})
.catch(error => console.error('Error al obtener numero de frames:', error));
}
function updatefadePosition() { function updatefadePosition() {
fetch('/fadePercent') fetch('/fadePercent')
.then(response => response.json()) .then(response => response.json())
@ -435,6 +445,9 @@ const char *htmlTemplate = R"rawliteral(
if (sensorValues.length >= 2) { if (sensorValues.length >= 2) {
document.getElementById('fade').value = sensorValues[1]; document.getElementById('fade').value = sensorValues[1];
} }
if (sensorValues.length >= 3) {
document.getElementById('frames').value = sensorValues[2];
}
} else { } else {
console.error('Estructura inesperada:', data); console.error('Estructura inesperada:', data);
} }
@ -443,7 +456,7 @@ const char *htmlTemplate = R"rawliteral(
} }
// Llama a updateSensors cada 500ms // Llama a updateSensors cada 500ms
setInterval(updateSensors, 500); setInterval(updateSensors, 100);
</script> </script>
</body> </body>

68
CraterLab_camera/include/main_m4.cpp
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@ -32,6 +32,10 @@ bool syncWithIntervalOptics = false;
bool closed=false; bool closed=false;
bool isAction=false; bool isAction=false;
//Sensores
volatile float motorSpeedRead = 0;
int FramesCount = 0;
#if PID_ENABLE #if PID_ENABLE
// ************************************************ Variables PID ***************************************************************** // ************************************************ Variables PID *****************************************************************
double Setpoint = 0.0, Input = 0.0, Output = 0.0; // Setpoint=Posición designada; Input=Posición del motor; Output=Tensión de salida para el motor. double Setpoint = 0.0, Input = 0.0, Output = 0.0; // Setpoint=Posición designada; Input=Posición del motor; Output=Tensión de salida para el motor.
@ -107,7 +111,7 @@ float time_move_for_move_position_motor[6] = {0, 0, 0, 0, 0, 0};
unsigned long time_refresh_position_motor[6] = { millis(), millis(), millis(), millis(), millis(), millis()}; unsigned long time_refresh_position_motor[6] = { millis(), millis(), millis(), millis(), millis(), millis()};
float position_motor[6] = { 0, 0, 0, 0, 0, 0}; float position_motor[6] = { 0, 0, 0, 0, 0, 0};
float position_motor_objective[6] = { 0, 0, 0, 0, 0, 0}; float position_motor_objective[6] = { 0, 0, 0, 0, 0, 0};
bool moving_position_motor[6] = { false, false, false, false, false, false}; int moving_position_motor[6] = { 0, 0, 0, 0, 0, 0};
void config_position_motor(int motor, float position) //Configuracion posicion en % motor void config_position_motor(int motor, float position) //Configuracion posicion en % motor
{ {
@ -115,10 +119,17 @@ void config_position_motor(int motor, float position) //Configuracion posicion e
{ {
if(motor==0) if(motor==0)
{ {
if(position>position_motor[motor]) forward(motor,255); if(position>position_motor[motor])
else backward(motor,255); {
forward(motor,32);
moving_position_motor[motor] = 1;
}
else
{
backward(motor,32);
moving_position_motor[motor] = -1;
}
position_motor_objective[motor] = position; position_motor_objective[motor] = position;
moving_position_motor[motor] = true;
} }
else else
{ {
@ -146,7 +157,7 @@ void config_speed_motor(int motor, int direction, int speed) //Configuracion vel
} }
volatile float fps_read = 0;
volatile float fps_temp = 0; volatile float fps_temp = 0;
unsigned long time_sec= millis(); unsigned long time_sec= millis();
unsigned long time_fps = micros(); unsigned long time_fps = micros();
@ -157,18 +168,22 @@ static volatile bool force_stop = false; //Tiempo del rebote
void fps_count_state() { void fps_count_state() {
if((digitalRead(sensor_fps)&&(micros()-lastTimeDebounce>= 100))&&(!closed)) if((digitalRead(sensor_fps)&&(micros()-lastTimeDebounce>= 100))&&(!closed))
{ {
if(motorDirection==FORWARD) FramesCount++;
else FramesCount--;
lastTimeDebounce = micros(); lastTimeDebounce = micros();
fps_temp = 1000000./(float)(micros()-time_fps); fps_temp = 1000000./(float)(micros()-time_fps);
if(fps_temp<70) fps_read = fps_temp; if(fps_temp<70) motorSpeedRead = fps_temp;
time_fps = micros(); time_fps = micros();
if((millis()-time_sec)>=1000) if((millis()-time_sec)>=1000)
{ {
//RPC.println(fps_read); //RPC.println(motorSpeedRead);
time_sec = millis(); time_sec = millis();
} }
} }
else if((digitalRead(sensor_fps)&&(micros()-lastTimeDebounce >= 150))&&(closed)) else if((digitalRead(sensor_fps)&&(micros()-lastTimeDebounce >= 150))&&(closed))
{ {
if(motorDirection==FORWARD) FramesCount++;
else FramesCount--;
lastTimeDebounce = micros(); lastTimeDebounce = micros();
closed = false; closed = false;
force_stop = true; force_stop = true;
@ -194,23 +209,12 @@ float inc_position_fade = 0;
int fade_direction = 0; int fade_direction = 0;
void config_automatic_fade(int shutterFadeFrames, int shutterSyncWithInterval, int shutterFadeInActive, int shutterFadeOutActive) //Configuracion fade void config_automatic_fade(int shutterFadeFrames, int shutterSyncWithInterval, int shutterFadeInActive, int shutterFadeOutActive) //Configuracion fade
{ {
if((shutterFadeInActive)&&(!shutterFadeOutActive)) fade_direction=IN;
if((shutterFadeInActive)&&(!shutterFadeOutActive)) else if((!shutterFadeInActive)&&(shutterFadeOutActive)) fade_direction=OUT;
{ else if((shutterFadeInActive)&&(shutterFadeOutActive)) fade_direction=IN_OUT;
fade_direction=IN;
inc_position_fade = (100-position_motor[0])/(float)shutterFadeFrames;
}
else if((!shutterFadeInActive)&&(shutterFadeOutActive))
{
fade_direction=OUT;
inc_position_fade = (position_motor[0])/(float)shutterFadeFrames;
}
else if((shutterFadeInActive)&&(shutterFadeOutActive))
{
fade_direction=IN_OUT;
inc_position_fade = (100)/(float)shutterFadeFrames;
}
else fade_direction=STOP; else fade_direction=STOP;
if(fade_direction!=IN_OUT) inc_position_fade = (100)/((float)shutterFadeFrames+1);
else inc_position_fade = 2*(100)/((float)shutterFadeFrames+1);
} }
void config_optics(int zoomValue, int focusValue, int diaphragmValue, int syncWithIntervalOptics) //Configuracion de las opticas void config_optics(int zoomValue, int focusValue, int diaphragmValue, int syncWithIntervalOptics) //Configuracion de las opticas
@ -248,9 +252,10 @@ int read_lineal_motor()
void ini_motors() void ini_motors()
{ {
//forward(0,255); //forward(0,255);
while (read_lineal_motor()>LINEAL_MAX) forward(0,255); unsigned long time_protection = millis();
while ((read_lineal_motor()>LINEAL_MAX)&&((millis()-time_protection)<10000)) forward(0,255);
stop(0); stop(0);
while (read_lineal_motor()<LINEAL_MAX) backward(0,255); while ((read_lineal_motor()<LINEAL_MAX)&&((millis()-time_protection)<10000)) backward(0,255);
stop(0); stop(0);
/*backward(1,255); /*backward(1,255);
@ -266,10 +271,10 @@ void ini_motors()
void refresh_position_motors() void refresh_position_motors()
{ {
position_motor[0] = map(read_lineal_motor(),LINEAL_MAX,LINEAL_MIN,0,100); position_motor[0] = map(read_lineal_motor(),LINEAL_MAX,LINEAL_MIN,0,100);
if((position_motor[0]==position_motor_objective[0])&&(moving_position_motor[0])) if(((position_motor[0]>=position_motor_objective[0])&&(moving_position_motor[0]==1))||((position_motor[0]<=position_motor_objective[0])&&(moving_position_motor[0]==-1)))
{ {
stop(0); stop(0);
moving_position_motor[0] = false; moving_position_motor[0] = 0;
} }
for(int i=1; i<4; i++) for(int i=1; i<4; i++)
{ {
@ -330,7 +335,7 @@ unsigned long time_adjust = millis();
Functions on the M4 that returns FPS Functions on the M4 that returns FPS
*/ */
int fpsRead() { int fpsRead() {
int result = fps_read; int result = motorSpeedRead;
return result; return result;
} }
@ -469,9 +474,9 @@ void RPCRead()
for(int i=0; i<1; i++) RPC.println(value[i]); for(int i=0; i<1; i++) RPC.println(value[i]);
#endif #endif
if(value[0]) if(value[0])
RPC.println("/sensors:" + String(fps_read) + "," + String(analogRead(sensor_lineal_motor)) + "," + String(position_motor[1]) + "," + String(position_motor[2]) + "," + String(position_motor[3])); //RPC.println("/sensors:" + String(motorSpeedRead) + "," + String(analogRead(sensor_lineal_motor)) + "," + String(position_motor[1]) + "," + String(position_motor[2]) + "," + String(position_motor[3]));
//RPC.println("/sensors:" + String(fps_read) + "," + String(position_motor[0]) + "," + String(position_motor[1]) + "," + String(position_motor[2]) + "," + String(position_motor[3])); RPC.println("/sensors:" + String(motorSpeedRead) + "," + String(position_motor[0]) + "," + String(position_motor[1]) + "," + String(position_motor[2]) + "," + String(position_motor[3]) + "," + String(FramesCount));
//RPC.println(fps_read); //RPC.println(motorSpeedRead);
} }
inputString_rpc = String(); inputString_rpc = String();
digitalWrite(LED_BUILTIN, HIGH); digitalWrite(LED_BUILTIN, HIGH);
@ -490,6 +495,7 @@ void setup() {
pinMode(EN_M4, OUTPUT); pinMode(EN_M4, OUTPUT);
digitalWrite(EN_M4, HIGH); digitalWrite(EN_M4, HIGH);
analogWriteResolution(8); analogWriteResolution(8);
analogReadResolution(12);
digitalWrite(Enable, LOW); digitalWrite(Enable, LOW);
sr.setAllLow(); // set all pins LOW sr.setAllLow(); // set all pins LOW
ini_motors(); ini_motors();

23
CraterLab_camera/include/main_m7.cpp
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@ -53,24 +53,14 @@ int focusValue = 50;
float diaphragmValue = 1.8; float diaphragmValue = 1.8;
bool syncWithIntervalOptics = false; bool syncWithIntervalOptics = false;
// Dispositivo 360
int x0Degrees = 0;
int x0Duration = 0;
int x1Degrees = 0;
int x1Duration = 0;
int y0Degrees = 0;
int y0Duration = 0;
bool syncWithInterval360 = false;
//Sensores //Sensores
float motorSpeedRead = 0; float motorSpeedRead = 0;
float FadePercentRead = 0; float FadePercentRead = 0;
int zoomValueRead = 0; int zoomValueRead = 0;
int focusValueRead = 0; int focusValueRead = 0;
float diaphragmValueRead = 0; float diaphragmValueRead = 0;
int x0DegreesRead = 0; int FramesCount = 0;
int x1DegreesRead = 0;
int y0DegreesRead = 0;
int read_value[10]; int read_value[10];
int* decode_values(String inputString, int num_dec) int* decode_values(String inputString, int num_dec)
@ -100,7 +90,7 @@ void RPCRead()
{ {
if (inputString_rpc.startsWith("/sensors:")) //Speed Motor if (inputString_rpc.startsWith("/sensors:")) //Speed Motor
{ {
int* value = decode_values(inputString_rpc, 5); int* value = decode_values(inputString_rpc, 6);
#if DEBUG_M4 #if DEBUG_M4
RPC.print("Recibido Speed M4: "); RPC.print("Recibido Speed M4: ");
RPC.println(inputString_rpc); RPC.println(inputString_rpc);
@ -111,6 +101,7 @@ void RPCRead()
zoomValueRead = value[2]; zoomValueRead = value[2];
focusValueRead = value[3]; focusValueRead = value[3];
diaphragmValueRead = value[4]; diaphragmValueRead = value[4];
FramesCount = value[5];
} }
else if(inputString_rpc.startsWith("/debug:")) else if(inputString_rpc.startsWith("/debug:"))
{ {
@ -179,7 +170,9 @@ bool flag_send[10] = {false ,false ,false ,false ,false ,false ,false ,false ,fa
void handlePostRequest(String body) { void handlePostRequest(String body) {
// Parseamos el cuerpo del JSON // Parseamos el cuerpo del JSON
StaticJsonDocument<1000> doc; //StaticJsonDocument<1000> doc;
JsonDocument doc;
doc.add(1000);
deserializeJson(doc, body); deserializeJson(doc, body);
int save = true; int save = true;
//DeserializationError error = deserializeJson(doc, body); //DeserializationError error = deserializeJson(doc, body);
@ -324,7 +317,7 @@ void loop() {
client.println("HTTP/1.1 200 OK"); client.println("HTTP/1.1 200 OK");
client.println("Content-Type: application/json"); client.println("Content-Type: application/json");
client.println(); client.println();
String response = "{\"sensors\":[" + String(motorSpeedRead) + "," + String(FadePercentRead) + "]}"; String response = "{\"sensors\":[" + String(motorSpeedRead) + "," + String(FadePercentRead) + "," + String(FramesCount) + "]}";
client.print(response); client.print(response);
} else { } else {
// Respuesta para servir la interfaz HTML // Respuesta para servir la interfaz HTML

46
CraterLab_camera/lib/README
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@ -1,46 +0,0 @@
This directory is intended for project specific (private) libraries.
PlatformIO will compile them to static libraries and link into executable file.
The source code of each library should be placed in an own separate directory
("lib/your_library_name/[here are source files]").
For example, see a structure of the following two libraries `Foo` and `Bar`:
|--lib
| |
| |--Bar
| | |--docs
| | |--examples
| | |--src
| | |- Bar.c
| | |- Bar.h
| | |- library.json (optional, custom build options, etc) https://docs.platformio.org/page/librarymanager/config.html
| |
| |--Foo
| | |- Foo.c
| | |- Foo.h
| |
| |- README --> THIS FILE
|
|- platformio.ini
|--src
|- main.c
and a contents of `src/main.c`:
```
#include <Foo.h>
#include <Bar.h>
int main (void)
{
...
}
```
PlatformIO Library Dependency Finder will find automatically dependent
libraries scanning project source files.
More information about PlatformIO Library Dependency Finder
- https://docs.platformio.org/page/librarymanager/ldf.html

3
CraterLab_camera/platformio.ini
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@ -16,7 +16,8 @@ monitor_speed = 1000000
;upload_port = COM12 ;upload_port = COM12
board_build.arduino.flash_layout = 75_25 ;50_50, 75_25, 100_0 board_build.arduino.flash_layout = 75_25 ;50_50, 75_25, 100_0
lib_deps = https://github.com/br3ttb/Arduino-PID-Library lib_deps = https://github.com/br3ttb/Arduino-PID-Library
bblanchon/ArduinoJson@^7.2.0 https://github.com/bblanchon/ArduinoJson
;bblanchon/ArduinoJson@^7.2.0
[env:ARDUINO_GIGA_M4] [env:ARDUINO_GIGA_M4]

11
CraterLab_camera/test/README
View file

@ -1,11 +0,0 @@
This directory is intended for PlatformIO Test Runner and project tests.
Unit Testing is a software testing method by which individual units of
source code, sets of one or more MCU program modules together with associated
control data, usage procedures, and operating procedures, are tested to
determine whether they are fit for use. Unit testing finds problems early
in the development cycle.
More information about PlatformIO Unit Testing:
- https://docs.platformio.org/en/latest/advanced/unit-testing/index.html