-
Notifications
You must be signed in to change notification settings - Fork 5
/
servo7.ino
515 lines (452 loc) · 33.5 KB
/
servo7.ino
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
#include <Servo.h>
/////////////////////////////////////
/// General setup for the Arduino ///
/////////////////////////////////////
char sCmd; // Data received from the serial port
// Sets up the pin connections on Arduino
// The numbers has to much to the ones the jumpers are connected to
int Xpin = 11;
int Ypin = 10;
int TriggerPin = 13; // Set the pin to digital I/O 13
// Sets up the starting point of the two servo motors
// These numbers need to be aligned before scanning so that the pinhole can be seen at the middle of each mirror (i.e. middle of the scanned scene)
float Xoffset = 6.0;
float Yoffset = -9.0;
Servo XServo;
Servo YServo;
////////////////////////////
/// Scanning path arrays ///
////////////////////////////
int sampling_time_ms = 260; // The amount of time between movements of the servo motors
int move_ms = 0;
int trigger_ms = 20;
int scanmode = 0; // default 0 - square 100 px
int nScanmodes = 5;
// The scanning path (servo positions) for 100 point square scan
const int8_t square100X[] PROGMEM = { //
60,60,60,60,60,60,60,60,60,60,66,66,66,66,66,66,66,66,66,66,72,72,72,72,72,72,72,72,72,72,78,78,78,78,78,78,78,78,78,78,84,84,84,84,84,84,84,84,84,84,90,90,90,90,90,90,90,90,90,90,96,96,96,96,96,96,96,
96,96,96,102,102,102,102,102,102,102,102,102,102,108,108,108,108,108,108,108,108,108,108,114,114,114,114,114,114,114,114,114,114,
};
const int8_t square100Xdec[] PROGMEM = { //
0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
};
const int8_t square100Y[] PROGMEM = { //
60,66,72,78,84,90,96,102,108,114,114,108,102,96,90,84,78,72,66,60,60,66,72,78,84,90,96,102,108,114,114,108,102,96,90,84,78,72,66,60,60,66,72,78,84,90,96,102,108,114,114,108,102,96,90,84,78,72,66,60,60,
66,72,78,84,90,96,102,108,114,114,108,102,96,90,84,78,72,66,60,60,66,72,78,84,90,96,102,108,114,114,108,102,96,90,84,78,72,66,60,
};
const int8_t square100Ydec[] PROGMEM = { //
0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
};
// The scanning path (servo positions) for 300 point spiral scan
const int8_t spiral300X[] PROGMEM = { //
106,106,104,102,97,94,91,93,96,98,100,106,108,109,115,117,117,112,112,111,113,114,117,115,112,109,109,107,109,106,103,100,95,93,90,91,94,95,98,100,102,103,103,100,99,97,94,97,96,99,102,105,108,109,107
,104,101,98,98,101,106,103,100,98,95,97,95,92,91,89,86,90,88,91,93,96,93,91,88,88,89,91,88,88,86,86,85,80,77,78,83,85,85,84,80,81,81,79,75,74,74,77,80,83,87,89,86,83,81,78,77,75,72,71,70,70,67,70,73,74
,77,76,79,83,83,83,80,74,71,70,67,66,68,67,67,64,65,61,62,64,61,62,65,69,74,77,80,82,85,79,75,72,68,70,72,73,77,79,81,84,85,82,78,75,74,71,66,63,61,61,64,66,69,68,68,65,63,63,66,67,69,72,75,77,77,74,
71,70,69,72,73,75,74,77,77,80,76,78,80,81,84,86,87,86,90,90,89,91,90,89,87,85,82,80,77,80,83,82,85,83,81,85,84,87,87,88,90,91,92,95,95,93,94,93,95,92,90,88,86,89,92,93,95,93,97,99,103,101,99,99,96,96,
98,102,104,102,102,105,108,109,109,108,105,106,105,102,99,96,98,101,103,108,112,112,115,115,111,110,111,113,109,104,98,101,109,113,114,117,116,114,118,119,116,114,111,110,104,106,101,106,
};
const int8_t spiral300Xdec[] PROGMEM = { //
9,2,8,8,9,6,8,3,1,0,1,3,1,3,2,4,8,7,2,1,9,10,6,4,7,9,9,0,4,5,5,5,7,5,5,7,2,3,3,8,7,7,9,7,10,1,4,5,10,6,4,3,2,4,0,1,2,4,5,2,4,5,8,1,8,8,1,6,4,0,10,4,5,4,4,0,8,9,5,0,7,7,9,7,3,5,8,3,4,3,3,2,3,1,8,9,1,5,
6,6,0,1,3,3,1,7,1,2,1,2,3,4,6,4,8,7,5,10,9,3,1,9,9,3,0,9,0,4,9,0,8,3,7,9,5,5,2,10,9,2,1,7,9,8,4,7,8,9,2,4,3,2,0,5,2,5,0,4,7,8,0,1,1,5,7,6,1,7,1,6,6,8,3,7,6,9,4,7,4,5,2,1,0,10,7,5,5,4,2,1,2,0,5,4,9,6,1
,10,10,1,1,9,9,6,0,2,1,8,9,5,6,4,7,1,4,2,6,9,1,1,7,4,3,5,2,9,1,8,3,2,2,10,1,5,4,2,6,5,2,8,0,8,8,9,4,7,8,2,5,8,8,4,7,2,10,8,8,9,9,3,2,7,7,1,2,3,4,6,1,0,9,1,4,6,6,2,8,7,3,1,1,5,6,7,1,0,3,6,5,10,2,4,4,4,
10,8,1,10,3,6,
};
const int8_t spiral300Y[] PROGMEM = { //
98,95,92,90,91,91,92,87,88,86,89,89,91,94,95,93,97,100,103,107,106,102,101,98,96,97,101,101,104,104,103,102,106,103,102,99,97,94,94,92,95,98,101,99,97,97,100,100,103,105,106,107,107,110,114,113,116,115
,112,113,110,110,109,108,114,118,117,116,119,117,115,114,112,110,112,110,108,106,104,100,97,95,94,91,95,98,102,104,110,113,115,118,113,110,110,113,118,115,115,112,109,107,107,107,109,107,106,104,101,
101,104,100,99,102,105,108,109,111,106,103,98,94,95,94,97,100,98,97,95,97,95,97,100,103,106,103,100,100,97,94,93,91,92,93,93,91,92,90,91,89,89,91,90,88,84,87,87,84,87,86,84,83,82,84,81,81,83,85,83,87,
89,87,85,82,79,80,81,77,76,72,75,75,75,76,79,78,78,72,69,69,72,69,65,66,69,70,72,73,78,80,80,81,85,89,90,87,83,77,73,70,68,66,68,67,63,63,61,64,70,72,75,74,77,78,72,75,79,81,85,84,81,79,75,72,68,69,66
,64,62,61,63,60,62,65,65,62,63,65,70,73,74,71,67,68,66,70,73,74,76,73,70,67,68,71,77,76,76,77,80,80,80,79,75,72,75,78,78,80,85,88,87,84,83,83,83,83,80,81,83,86,87,91,89,91,93,90,87,85,86,81,
};
const int8_t spiral300Ydec[] PROGMEM = { //
2,3,8,7,1,7,4,9,7,3,2,5,9,6,2,4,3,2,8,4,6,8,3,9,7,7,0,3,4,5,10,9,4,6,6,7,4,5,3,10,4,1,0,10,1,8,8,9,7,7,9,6,7,9,2,9,6,7,2,3,9,6,7,3,4,9,7,2,3,5,4,3,1,6,7,7,7,0,8,8,5,5,1,2,3,3,9,7,5,2,9,2,0,4,7,4,3,9,2
,4,6,6,8,4,5,10,4,1,3,5,6,9,6,4,2,1,0,0,7,8,0,6,2,6,5,4,3,0,4,8,4,9,4,2,0,4,6,3,5,9,9,4,5,2,3,5,4,3,10,0,9,3,5,8,9,6,0,10,4,10,1,9,3,5,7,9,10,6,7,7,2,4,9,7,3,4,8,9,7,9,9,5,7,5,4,8,8,4,3,0,3,2,9,3,8,9,
7,6,0,9,6,4,9,4,0,6,3,0,5,6,3,4,5,2,1,8,6,9,2,6,2,9,6,1,6,6,6,9,0,8,9,2,3,0,3,2,8,7,10,6,5,7,9,8,3,9,5,4,7,7,2,1,9,1,2,10,9,8,2,3,4,5,10,9,7,10,10,7,5,1,5,0,4,5,1,0,2,9,8,6,8,2,5,4,5,4,8,2,9,4,4,2,7,7
,4,4,7,7,5,7,
};
// The scanning path (servo positions) for 600 point spiral scan
const int8_t spiral600X[] PROGMEM = { //
90,92,94,97,100,102,103,105,107,110,111,113,112,116,118,116,115,112,111,109,110,108,106,108,108,109,111,109,107,104,102,101,103,100,98,104,107,106,109,107,106,106,104,105,107,110,115,117,119,119,117,115
,114,114,112,113,116,116,114,111,112,115,113,113,110,111,111,108,106,105,103,102,99,99,101,101,92,91,93,99,101,104,106,105,108,106,102,99,97,97,97,98,97,95,93,93,95,95,95,92,90,94,96,99,103,103,101,
100,101,98,99,102,97,92,90,97,97,97,99,99,101,104,104,97,95,93,90,93,92,96,90,91,94,97,94,96,92,94,94,91,87,89,88,89,92,95,95,94,91,90,88,88,89,91,96,95,87,89,87,83,85,86,83,81,80,81,80,78,78,77,78,80
,81,81,80,81,83,85,83,83,85,83,83,85,86,85,86,85,87,85,87,89,88,90,88,87,85,87,86,84,82,79,77,79,78,78,79,80,82,85,85,83,81,78,76,74,70,68,68,66,65,64,66,69,70,73,73,75,77,82,80,76,74,75,75,76,76,74,71
,72,74,72,71,70,67,67,69,69,71,76,77,82,87,89,89,87,86,84,83,82,78,75,74,72,71,70,70,69,67,65,63,65,63,63,61,61,62,64,64,66,68,68,72,72,74,74,75,73,66,65,63,60,61,64,68,74,76,77,77,78,80,81,79,78,73,
69,67,66,65,63,62,60,61,62,61,63,63,65,66,68,65,66,67,69,70,72,75,77,81,79,76,79,77,73,70,68,66,64,64,67,68,71,70,72,74,75,72,71,74,73,71,69,69,71,72,72,70,69,67,68,65,65,69,73,74,76,79,79,80,81,82,84
,86,86,84,85,83,83,81,80,78,74,74,76,76,77,76,75,74,76,77,74,72,72,70,72,75,77,78,81,79,78,81,83,83,84,86,88,88,86,85,84,83,81,81,81,84,87,86,85,83,82,81,79,79,79,80,82,83,84,85,88,87,85,84,86,86,88,87
,88,89,91,93,92,90,91,92,92,92,92,90,89,91,91,90,89,89,90,88,88,89,90,94,98,100,99,97,95,93,90,88,87,89,91,93,92,95,97,100,98,97,94,94,96,94,94,91,90,91,91,93,95,96,95,96,96,99,100,99,97,95,96,95,98,
100,102,102,103,105,104,106,108,109,108,108,105,105,105,102,103,103,103,102,101,104,104,106,107,109,110,112,116,116,114,114,112,110,107,105,103,101,98,93,94,96,99,98,100,101,99,97,98,98,99,99,101,100,
101,101,105,107,111,113,112,110,110,112,114,116,117,116,114,112,110,107,105,103,101,103,104,107,106,108,111,109,107,110,112,114,116,118,119,118,117,115,113,109,108,106,104,
};
const int8_t spiral600Xdec[] PROGMEM = { //
2,3,3,1,5,8,6,5,2,8,10,8,6,9,1,8,6,8,2,8,5,8,3,4,9,6,2,4,8,1,0,6,7,8,8,9,8,9,5,9,0,1,1,7,6,7,2,8,2,3,9,4,2,1,5,6,2,9,4,7,5,0,0,4,9,2,2,9,6,8,7,9,8,7,10,5,10,2,1,5,6,4,4,10,8,6,2,6,4,5,1,9,7,6,3,7,8,0,
3,7,10,3,0,9,10,5,6,2,0,6,3,0,9,4,3,9,6,0,8,10,10,3,2,6,8,6,10,10,9,6,2,6,0,7,9,8,5,9,0,4,9,8,10,3,8,5,9,1,8,7,1,7,9,9,2,2,9,4,2,7,7,2,10,9,1,9,1,2,4,0,10,8,7,1,9,1,2,2,1,5,3,7,6,3,8,2,6,3,0,7,5,8,6,3
,10,3,8,9,7,3,6,8,1,1,7,6,6,9,9,3,1,7,7,9,4,1,2,8,1,1,7,1,8,8,10,0,9,9,9,1,3,5,5,1,0,5,3,1,9,3,4,10,8,9,7,6,7,8,8,9,7,9,4,2,1,6,6,10,5,5,9,7,3,10,8,9,2,8,7,7,8,6,7,6,8,10,4,8,2,1,0,7,5,0,3,9,9,2,7,7,1
,8,6,1,6,5,2,4,2,9,8,3,6,3,6,9,10,7,6,8,6,2,3,5,5,0,10,1,5,1,2,8,5,5,7,0,4,4,3,1,9,4,3,2,5,5,5,0,7,3,4,4,2,1,1,3,10,2,9,1,4,6,6,2,6,3,1,10,7,0,6,10,2,3,9,10,2,7,8,6,5,2,3,5,4,8,7,6,5,2,2,5,6,8,9,4,1,3
,8,9,2,8,4,2,0,8,3,8,5,1,1,9,1,1,0,9,5,0,3,8,5,1,5,1,3,9,9,1,2,0,3,2,4,4,0,6,2,6,6,7,10,2,3,1,1,8,0,2,8,5,4,3,7,8,0,3,9,5,7,7,10,9,4,6,7,2,6,4,10,1,1,3,9,9,9,0,1,4,3,10,6,2,5,7,8,3,6,3,8,10,2,1,1,2,8,
6,6,0,3,2,7,7,1,7,6,9,0,6,7,9,3,9,6,6,4,7,3,6,6,6,6,7,5,2,1,10,8,4,8,4,7,2,6,6,3,7,3,6,6,7,8,1,3,4,1,1,0,9,8,6,1,6,8,5,7,1,7,8,7,8,8,3,0,10,1,5,2,3,4,3,4,6,6,4,3,3,2,2,0,8,4,8,9,9,6,1,5,10,5,6,2,3,7,7
,5,8,1,4,4,3,1,4,8,2,5,7,9,7,3,7,
};
const int8_t spiral600Y[] PROGMEM = { //
88,88,89,89,91,91,93,92,91,90,89,90,92,93,94,96,95,95,96,102,104,107,106,105,100,95,93,92,93,95,97,100,100,102,101,102,103,101,98,96,94,97,97,99,99,99,98,98,96,92,90,91,93,96,98,100,100,102,102,101,103
,104,105,107,106,108,110,109,108,104,104,102,97,95,95,93,95,96,97,99,104,109,112,114,111,110,109,104,99,97,95,93,92,90,91,93,93,95,97,103,104,104,105,106,113,115,113,117,115,115,113,107,106,106,107,108
,111,113,111,109,111,111,106,103,102,109,110,114,116,118,119,117,118,117,112,101,99,99,101,101,103,102,105,109,111,110,108,107,108,115,111,114,112,113,115,116,118,116,115,115,117,119,118,116,117,114
,115,116,113,111,110,109,106,104,102,100,100,99,102,104,108,110,113,114,113,111,109,102,99,97,95,95,97,98,100,101,104,107,106,106,108,107,106,105,103,101,97,95,93,93,95,98,98,99,100,101,106,108,105,105
,103,105,108,110,112,112,110,109,108,111,112,114,114,112,107,104,102,103,103,105,105,108,110,108,103,101,101,103,101,98,96,95,93,92,90,89,91,90,91,89,92,92,93,91,93,95,97,99,98,98,97,100,102,99,99,96
,94,92,95,96,96,94,97,99,99,97,95,95,93,90,91,92,90,89,90,90,89,90,93,94,93,91,89,88,88,88,83,82,80,85,88,88,86,84,82,80,82,84,85,87,87,88,91,92,91,89,87,86,82,82,82,79,79,75,74,75,77,76,78,79,80,81,79
,78,77,80,83,84,84,85,86,85,82,76,73,71,72,70,71,73,73,75,77,80,82,84,84,86,87,84,86,88,87,85,85,83,83,81,80,77,77,71,69,70,72,75,77,75,73,68,66,66,67,69,68,65,64,64,62,62,68,70,73,71,73,74,76,77,74,
73,69,67,69,70,68,66,65,65,67,72,76,78,75,75,72,66,64,64,62,61,63,64,70,77,79,79,81,81,83,87,85,84,84,82,82,80,79,77,72,69,67,69,71,75,78,79,76,73,72,68,66,65,60,61,63,63,62,63,62,61,60,61,62,63,64,66
,66,64,65,66,67,67,70,74,78,81,86,90,91,93,86,87,85,83,80,78,76,73,71,72,72,70,69,69,68,64,67,69,68,71,70,70,72,77,79,77,79,81,82,80,78,74,72,70,66,64,66,68,68,70,70,76,78,78,75,75,75,75,75,76,75,74,74
,76,76,78,80,81,84,83,83,85,87,88,90,89,85,79,77,73,72,72,73,77,77,79,82,82,83,84,89,88,87,86,87,87,88,86,85,83,83,85,85,84,83,81,81,79,80,81,82,85,88,87,85,85,88,89,88,90,
};
const int8_t spiral600Ydec[] PROGMEM = { //
3,5,1,4,10,3,3,4,2,8,1,2,1,0,6,7,0,2,7,9,8,9,5,8,9,2,7,4,7,5,10,2,2,4,10,3,8,7,0,3,7,2,8,8,0,8,6,5,4,4,8,5,5,8,4,3,4,4,1,7,6,1,6,6,9,9,10,9,6,4,8,5,8,7,8,8,2,8,6,9,8,1,7,8,10,7,3,5,1,0,0,8,1,7,2,2,1,5
,7,2,6,6,7,9,2,2,4,3,4,3,4,1,5,1,2,8,0,1,3,2,4,2,9,9,10,6,7,4,2,9,3,9,5,2,5,1,6,7,6,3,8,7,6,4,7,4,2,3,5,4,4,3,6,6,0,8,4,10,9,8,2,6,4,9,8,3,3,1,5,7,8,7,4,5,4,3,4,10,6,6,3,0,1,6,1,6,9,3,1,3,9,3,6,9,5,6,
4,10,3,6,3,8,9,9,9,8,7,7,7,3,3,0,1,7,8,3,1,3,9,6,2,1,1,6,9,7,2,7,9,5,6,3,8,3,6,9,8,4,7,9,5,1,5,3,6,3,6,8,6,7,8,8,7,9,8,6,4,2,7,3,3,2,8,8,4,3,3,4,10,4,5,7,5,10,1,5,1,9,2,1,8,7,5,5,3,3,5,6,9,8,7,8,3,5,0
,3,2,9,8,10,3,1,9,3,1,4,10,3,6,10,1,8,5,3,5,5,3,0,6,1,5,8,9,8,0,5,1,4,5,1,1,9,8,9,6,7,1,7,7,0,8,4,6,6,9,0,2,2,9,7,9,5,6,7,8,7,6,5,7,7,1,1,7,6,5,3,2,1,9,5,4,1,9,8,7,4,6,5,4,8,5,1,0,8,10,2,6,4,2,7,6,10,
6,7,5,6,10,7,7,7,6,7,3,5,9,8,0,7,6,3,9,2,2,10,8,7,2,9,8,2,5,4,7,3,10,6,6,8,10,2,4,2,9,7,5,3,2,6,9,1,3,3,3,4,7,8,6,3,9,3,10,9,3,3,3,8,3,6,1,8,8,1,10,4,0,9,3,5,2,1,3,8,6,6,8,3,2,9,6,5,7,6,8,4,8,3,5,0,7,
9,3,4,4,3,8,5,6,1,2,6,5,8,1,4,3,8,4,3,7,3,8,6,8,3,5,6,7,7,2,3,2,1,1,1,7,2,3,4,2,5,7,2,8,1,6,2,1,2,5,2,1,5,6,6,4,6,8,3,1,3,0,3,5,3,5,6,9,2,2,4,10,9,2,6,3,6,1,8,7,7,4,2,1,3,4,0,5,10,4,6,5,3,7,3,7,5,7,9,
5,2,2,10,5,1,10,0,1,8,10,3,
};
// The scanning path (servo positions) for 1000 point spiral scan
const int8_t spiral1000X[] PROGMEM = { //
115,116,114,108,102,100,96,93,94,94,95,97,98,99,103,107,109,111,113,112,113,114,115,115,117,112,111,109,108,106,106,105,107,109,116,116,116,114,116,118,117,116,114,114,113,113,112,111,110,110,107,106,
105,107,108,110,113,113,113,113,111,109,110,113,114,115,112,110,108,106,105,104,103,102,100,99,97,95,97,97,96,98,100,102,102,103,103,101,97,95,95,99,101,102,104,102,100,101,102,104,106,106,108,108,103
,103,102,100,99,94,92,92,93,94,94,95,97,98,99,102,104,105,108,107,105,106,107,107,107,109,109,108,109,109,107,109,109,111,111,111,111,111,105,100,98,97,90,90,92,95,97,97,95,97,99,102,104,104,106,106,103
,101,103,104,105,102,101,100,99,98,96,99,97,94,93,95,97,99,100,99,100,102,99,98,98,101,103,104,102,101,100,100,98,97,96,94,93,93,94,94,93,92,90,93,95,96,96,94,95,95,95,91,89,90,90,86,85,88,91,92,92,
91,92,94,96,97,96,92,93,95,96,97,98,99,98,94,93,91,89,88,87,88,87,89,90,91,91,92,93,93,92,90,90,87,86,86,87,89,90,90,89,91,91,90,89,87,88,92,89,85,85,83,82,82,84,87,89,88,85,83,85,85,87,88,86,83,84,86
,86,88,89,90,89,87,86,85,84,81,79,76,72,73,74,76,77,77,79,81,82,83,85,85,87,89,88,86,86,84,84,83,83,82,81,80,83,81,78,77,75,73,73,72,74,77,79,83,81,77,76,79,79,82,81,80,80,81,79,77,79,79,76,75,74,75,78
,79,77,76,76,74,74,75,82,83,82,82,80,79,77,76,74,72,73,71,69,71,72,70,67,66,68,68,69,70,72,71,69,66,67,68,71,71,65,72,75,79,80,79,77,77,78,77,76,74,74,76,72,66,67,63,60,61,61,62,65,67,68,70,72,74,79,
81,82,84,86,87,88,86,84,82,81,83,79,77,75,74,69,68,67,68,69,69,68,68,66,65,65,64,63,64,63,64,65,71,72,75,76,75,73,74,75,77,79,81,83,84,84,82,81,81,80,78,73,71,72,76,77,80,82,82,75,72,69,65,65,64,62,64
,61,60,60,61,61,60,62,63,62,64,63,62,61,62,63,64,66,65,65,65,66,67,73,74,71,70,68,69,70,71,71,69,68,66,67,69,71,71,69,67,66,67,68,70,70,71,74,72,66,66,64,63,61,63,70,74,75,80,84,87,88,90,89,87,86,86,85
,85,81,76,72,67,69,68,74,77,78,76,76,74,75,73,73,71,69,69,68,64,64,65,73,75,78,81,80,80,79,78,76,78,80,84,87,88,88,86,83,81,79,78,77,76,71,71,67,65,62,62,64,65,67,67,65,64,64,65,67,68,72,69,69,69,70,
72,72,72,71,71,71,74,78,79,79,78,78,76,74,74,74,73,73,72,70,69,67,69,70,73,75,76,77,75,74,73,75,76,78,80,78,76,76,77,76,76,78,77,81,82,84,86,83,84,84,86,87,89,90,90,86,81,79,78,80,81,82,82,83,84,83,82
,81,80,79,81,83,84,87,86,85,83,83,81,83,81,80,79,84,86,87,85,84,86,90,89,93,95,96,94,91,89,87,87,85,83,83,84,85,88,89,88,87,86,85,85,83,83,82,79,80,79,81,81,83,85,88,89,91,91,93,92,90,88,89,88,90,90,92
,92,93,92,91,89,88,87,88,86,87,86,87,88,92,90,89,91,92,94,95,98,97,95,94,95,101,94,96,98,97,93,92,93,94,95,99,102,103,96,96,101,100,95,95,94,94,92,92,93,98,102,104,103,101,99,97,95,95,96,101,99,98,98
,96,96,90,91,88,89,90,90,93,93,92,94,96,99,100,98,98,96,96,99,97,96,91,92,91,91,92,94,97,99,101,102,104,106,105,107,106,107,105,103,106,106,105,103,104,103,105,100,102,99,98,99,99,98,99,101,103,104,104
,106,108,108,109,109,110,111,110,111,109,107,109,112,112,108,105,104,100,98,98,101,102,101,104,106,110,110,108,104,102,102,100,97,95,101,102,105,107,107,108,111,113,114,113,115,116,115,113,112,112,114
,115,116,114,113,114,115,117,118,117,116,109,105,103,103,105,108,108,110,111,111,113,113,111,110,107,107,105,104,108,109,111,110,108,107,107,106,103,104,105,106,108,111,112,113,112,106,101,100,101,92
,99,102,109,110,115,115,114,116,115,118,119,117,118,119,117,116,116,117,118,118,119,118,
};
const int8_t spiral1000Xdec[] PROGMEM = { //
3,0,4,7,6,5,2,3,4,3,5,7,9,9,3,5,7,6,4,7,6,4,1,7,3,2,5,6,7,4,4,2,6,8,1,8,1,10,6,0,7,4,8,4,10,4,6,8,8,7,4,8,9,4,9,8,0,3,4,3,2,2,8,1,10,0,7,3,2,1,3,6,7,2,6,3,4,8,6,5,9,1,6,0,4,9,8,4,0,9,5,0,6,2,3,6,10,1,
8,5,4,2,2,1,8,1,5,9,3,5,5,9,9,1,5,9,4,10,3,7,3,9,7,10,7,5,1,6,9,6,8,1,9,9,8,4,7,5,7,6,5,2,1,9,9,9,1,10,3,8,7,7,9,6,3,9,6,6,4,2,9,9,4,9,5,4,1,6,10,4,8,4,9,1,0,2,1,2,5,7,10,4,9,8,6,9,4,2,7,3,4,8,10,2,6,
8,1,8,6,7,1,4,9,8,3,1,1,3,4,9,1,8,9,5,9,6,1,10,4,2,1,4,8,0,2,4,3,4,8,1,3,5,4,9,5,0,1,3,7,9,6,3,9,9,8,4,9,1,3,2,8,5,2,1,4,2,4,2,2,8,9,0,9,3,2,9,4,2,5,7,3,7,9,1,2,4,5,4,0,9,1,5,5,6,3,6,10,8,4,9,8,9,4,10
,7,1,7,6,10,3,7,7,8,1,6,7,9,6,0,7,3,10,6,1,3,9,2,7,3,9,7,3,4,6,1,2,4,5,2,6,1,6,2,7,5,1,4,9,8,1,10,5,0,8,9,2,5,9,3,2,9,9,3,3,4,5,7,0,1,3,3,10,8,2,5,3,8,3,10,4,5,8,2,6,5,2,6,9,9,7,3,9,9,5,1,2,6,5,4,9,5,
1,10,7,9,8,5,1,8,0,3,9,1,6,3,4,10,8,0,0,7,8,9,2,8,3,0,5,0,7,6,2,9,7,3,7,1,2,5,9,10,6,4,7,10,3,10,5,0,2,7,6,3,2,8,5,6,3,2,5,6,3,0,2,7,2,8,0,4,2,9,10,3,10,3,10,5,8,4,4,1,9,5,9,6,1,3,3,1,9,6,0,9,8,5,2,10
,3,9,9,5,9,2,6,2,5,8,3,7,7,3,2,2,7,3,2,9,1,1,9,0,2,8,7,8,7,8,9,1,8,7,8,7,2,4,2,7,4,9,10,7,0,5,2,4,4,7,2,4,8,7,3,4,2,4,3,2,2,1,0,3,4,3,1,5,7,6,8,10,2,1,5,6,7,6,10,5,9,4,9,3,8,5,9,0,5,9,4,2,6,6,8,8,2,9,
3,9,7,9,2,3,3,6,8,5,5,9,3,1,1,4,1,7,10,9,7,3,8,5,6,8,2,2,9,8,2,4,8,5,3,10,10,8,7,1,4,9,7,2,8,7,0,2,3,6,5,5,5,1,8,10,3,5,2,3,1,5,2,6,5,7,10,1,6,6,1,0,2,4,1,9,4,8,8,1,4,7,1,1,6,8,0,3,4,5,3,5,9,1,4,2,3,5
,5,7,8,7,7,5,5,8,8,7,9,5,2,5,10,4,8,1,6,5,2,10,1,1,9,8,9,3,9,2,3,7,3,1,2,9,0,0,9,1,3,4,7,7,5,5,9,1,1,3,4,4,2,2,9,5,4,3,9,0,3,4,8,1,1,8,5,3,9,1,6,0,7,6,8,3,8,8,4,4,9,8,1,8,6,5,8,6,3,9,3,6,4,0,6,2,5,4,8
,3,2,8,8,0,3,2,2,1,9,1,7,9,3,5,2,1,4,7,9,9,6,2,9,2,1,2,5,4,8,2,9,0,7,7,3,7,0,10,3,8,5,0,10,7,5,9,8,7,9,2,10,1,1,10,1,6,4,8,3,9,2,1,1,5,5,4,10,6,2,8,4,8,6,5,9,7,1,2,6,5,5,1,5,1,8,5,10,9,4,8,5,2,8,9,6,3
,1,0,2,2,3,8,1,5,8,8,7,2,7,7,0,6,8,6,9,6,5,8,4,6,0,4,1,2,4,4,0,3,9,3,7,3,1,3,6,1,6,8,2,1,3,8,3,8,2,6,9,5,1,5,8,0,2,10,6,8,5,8,3,1,7,9,4,8,7,1,2,8,2,8,0,4,5,3,8,5,4,9,4,2,8,7,5,0,1,4,1,3,10,8,2,7,5,3,2
,3,6,2,5,1,5,4,9,8,2,2,10,9,8,5,6,9,7,3,9,2,4,
};
const int8_t spiral1000Y[] PROGMEM = { //
92,90,91,92,89,88,88,89,87,90,89,88,89,91,90,91,91,90,89,91,93,94,95,97,97,98,96,96,95,95,92,93,94,93,93,95,99,102,102,100,98,100,101,99,97,96,94,93,92,95,96,99,101,100,99,99,101,102,104,106,109,110,110
,107,106,104,99,98,97,97,99,98,96,97,97,96,97,95,96,94,92,91,92,91,93,94,92,90,90,91,93,97,99,101,102,102,103,104,104,103,104,103,105,103,100,99,95,96,94,92,90,92,94,95,100,100,101,101,103,107,108,109
,112,113,114,113,111,110,108,108,107,106,105,104,102,100,102,102,104,105,107,101,96,94,92,86,88,91,94,97,103,104,106,106,106,106,105,107,106,107,110,110,111,112,110,109,106,101,99,99,99,104,111,113,
114,115,112,112,113,115,116,116,117,118,116,114,115,114,113,112,109,107,108,108,109,109,108,107,104,102,98,95,95,97,98,102,104,105,107,111,112,115,119,116,114,111,110,108,108,110,113,118,117,116,113,115
,116,119,118,117,118,117,113,111,109,110,112,111,115,113,114,111,110,107,106,104,102,100,101,103,105,109,112,112,109,106,102,102,103,101,99,98,97,96,98,99,100,106,110,113,111,108,105,103,104,105,105
,103,107,106,105,102,107,106,104,102,101,101,99,95,94,93,92,92,95,96,98,102,103,102,105,107,109,111,112,114,117,117,118,118,117,119,118,117,116,117,115,116,114,112,110,109,106,104,101,100,103,105,104,
104,102,98,98,98,98,97,97,102,104,105,106,107,108,110,113,115,115,116,114,112,107,105,105,107,107,108,111,114,116,114,112,112,115,116,113,111,112,110,109,109,111,111,109,109,110,110,112,112,109,107,108
,106,108,107,107,105,105,104,102,103,102,98,101,100,98,96,95,94,92,94,95,97,97,95,97,95,95,96,94,95,94,96,98,101,105,106,104,103,103,102,101,99,99,99,97,97,94,94,94,94,95,96,99,100,100,100,101,101,100
,99,99,97,95,97,98,97,99,98,99,100,102,104,103,100,96,94,91,90,90,92,92,90,89,89,90,91,92,92,91,93,92,91,93,93,91,89,88,87,87,88,87,89,89,93,95,96,97,94,93,92,88,87,86,84,83,87,85,88,90,89,90,91,92,91
,91,89,87,86,84,84,87,86,86,85,88,86,88,84,82,84,85,85,87,91,94,96,95,92,89,90,93,93,92,90,88,81,81,79,84,83,82,81,81,84,85,90,89,88,89,90,90,91,92,90,88,86,85,84,85,82,82,81,81,80,78,79,77,78,79,80,
78,80,78,79,79,79,81,83,82,83,82,82,80,82,83,86,86,87,88,87,86,85,83,84,85,83,85,84,82,81,78,76,78,78,80,78,78,76,74,73,74,76,74,73,71,69,67,70,71,73,75,77,75,74,72,70,68,71,72,73,75,75,77,75,76,74,73
,69,71,72,73,76,76,74,68,65,64,67,68,68,66,67,70,71,70,71,73,74,72,69,65,63,62,64,68,70,75,76,77,77,79,78,79,82,80,77,74,71,69,66,63,62,63,61,62,63,64,66,64,66,67,67,71,73,77,80,81,81,78,78,75,73,70,65
,61,62,63,64,66,66,70,74,75,75,74,73,75,76,75,72,69,67,68,70,72,78,79,80,81,83,83,85,84,82,80,80,78,76,76,75,73,67,65,64,64,71,72,73,72,73,72,66,65,63,62,64,61,60,61,61,60,61,62,69,68,70,71,69,68,67,
68,69,70,71,72,71,69,70,69,68,64,64,64,65,63,67,66,65,63,61,61,62,64,66,71,75,79,79,82,84,86,87,85,83,76,75,71,67,63,63,62,62,66,67,71,76,81,83,82,84,85,87,87,86,84,82,81,79,78,77,78,83,77,74,73,76,79
,85,84,86,88,81,80,78,76,76,75,72,70,69,69,69,71,71,73,75,78,78,76,74,73,73,74,76,76,73,73,70,69,68,66,67,65,66,66,64,66,66,66,68,71,75,79,77,75,70,70,69,68,71,72,78,80,81,80,80,78,77,71,68,67,67,72,73
,73,80,78,80,82,81,81,83,82,81,80,78,76,74,74,75,77,77,76,74,73,76,78,79,80,81,81,84,83,82,83,82,80,78,77,83,83,84,85,84,82,83,81,79,80,82,83,85,87,89,88,86,86,86,85,81,80,82,83,85,88,89,91,90,90,87,
88,87,86,87,87,86,85,84,87,86,88,89,89,87,85,86,84,84,86,87,88,90,89,88,91,93,94,96,92,91,
};
const int8_t spiral1000Ydec[] PROGMEM = { //
6,5,2,7,2,8,1,3,10,6,5,7,7,0,10,6,2,6,10,8,1,5,10,5,1,0,6,7,3,2,9,10,0,9,10,5,2,7,5,5,8,8,0,4,9,4,9,6,3,2,5,0,5,5,4,6,2,8,4,1,3,6,10,8,1,4,6,1,9,6,10,5,10,6,9,2,7,5,0,4,9,5,5,9,7,9,9,2,4,6,9,9,5,2,3,8
,1,8,4,8,7,1,3,7,7,1,6,0,5,4,9,4,3,10,0,8,3,5,2,6,6,4,2,8,8,2,7,1,5,10,3,9,7,1,1,9,5,7,3,10,6,1,2,2,9,8,7,3,0,0,1,9,3,5,6,0,4,0,2,8,2,7,7,5,10,2,4,4,7,6,3,9,1,7,9,1,5,5,6,0,0,9,4,7,3,6,5,1,2,2,5,10,2,
1,6,4,9,4,1,2,10,9,3,5,6,8,6,8,9,1,4,10,3,9,4,1,0,8,3,3,3,4,4,3,9,2,4,7,7,6,8,6,9,0,7,8,1,6,4,8,7,10,0,5,0,3,4,2,3,4,2,7,7,10,0,8,6,1,3,3,9,8,5,9,1,0,7,8,9,8,10,8,3,8,2,5,1,9,9,6,5,8,9,6,2,7,3,2,5,9,1
,0,2,9,7,2,0,3,1,3,9,7,5,2,8,5,6,2,8,4,8,3,6,8,3,1,5,2,5,8,9,6,1,6,2,7,7,7,2,2,3,7,9,8,3,10,5,0,0,2,8,5,2,2,9,6,10,2,3,5,6,9,10,7,3,8,0,6,3,6,9,9,1,8,4,6,1,7,2,4,2,1,4,2,5,9,8,5,10,8,4,8,9,3,6,6,2,0,6
,2,1,3,8,5,10,8,3,3,9,3,7,2,3,6,3,8,3,2,1,1,10,3,8,2,5,2,7,7,10,4,5,1,6,7,7,0,5,1,5,4,10,3,9,4,6,7,7,1,4,1,7,7,0,0,3,3,6,6,9,9,3,7,2,2,10,1,4,8,0,1,7,3,3,9,8,3,8,5,8,9,9,7,6,0,5,6,6,2,0,4,6,1,6,1,2,3,
5,1,9,5,6,8,2,6,10,1,5,5,6,2,1,5,8,9,0,8,8,4,5,2,7,5,6,4,5,9,0,1,7,1,6,10,3,3,7,5,8,1,1,3,1,10,2,6,7,5,3,7,10,5,3,9,2,3,5,7,5,4,7,0,6,1,5,2,6,7,5,7,3,8,6,2,9,7,7,1,5,1,7,5,10,0,2,7,6,9,5,1,9,4,3,2,3,1
,9,0,7,8,7,2,7,3,5,9,8,8,6,2,7,2,5,9,1,1,2,5,2,4,8,1,7,5,8,0,4,7,2,0,7,3,3,4,8,2,1,5,8,7,2,5,1,4,0,8,5,9,3,4,0,6,7,6,4,10,4,7,8,1,0,6,3,9,2,1,6,9,8,2,7,5,6,4,8,2,9,3,6,2,0,5,5,2,2,1,10,3,5,8,1,6,8,5,6
,3,4,6,8,1,9,2,6,5,10,9,1,5,9,0,9,6,2,4,4,1,2,5,9,10,2,5,7,4,2,1,0,8,5,1,2,8,1,5,9,5,3,1,4,4,7,2,4,0,2,6,5,4,5,8,8,1,6,7,3,3,9,6,7,10,9,6,1,10,9,3,5,1,8,3,0,9,5,5,8,4,1,8,4,10,5,6,7,5,5,5,7,1,8,6,4,6,
8,10,3,5,8,5,6,7,3,1,8,10,6,0,8,5,3,4,9,8,4,2,6,2,9,2,4,10,1,4,2,7,7,8,10,1,7,2,9,6,6,3,8,4,3,9,3,6,1,9,0,10,7,6,2,5,6,4,8,4,9,9,1,6,7,5,5,5,0,8,6,7,4,5,2,1,4,5,7,9,1,3,10,8,7,10,5,5,1,6,8,2,0,5,3,6,2
,3,5,2,7,4,3,9,8,5,1,8,5,1,7,9,2,8,9,1,5,1,6,2,9,10,1,7,4,2,8,4,5,2,1,6,0,9,4,6,10,2,9,6,1,9,5,1,3,4,5,3,3,3,6,9,7,6,7,5,0,9,3,6,4,10,2,4,6,2,10,9,7,8,10,1,8,3,6,6,1,9,9,3,8,2,9,6,0,8,9,6,2,8,8,10,9,1
,7,4,0,1,7,4,6,5,2,0,9,0,8,9,3,3,7,2,6,3,9,4,9,6,6,1,
};
////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
float Xangle = 90.0;
float Yangle = 90.0;
int XAngle2Microseconds;
int YAngle2Microseconds;
void setup(){
XServo.attach(Xpin);
YServo.attach(Ypin);
XServo.write(Xangle+Xoffset);
YServo.write(Yangle+Yoffset);
pinMode(TriggerPin, OUTPUT); // Set pin as OUTPUT
Serial.begin(9600); // Start serial communication at 9600 bps
}
// Communication via Serial Monitor
void loop(){
digitalWrite(TriggerPin, LOW); // trigger low
if(Serial.available()) {
sCmd = Serial.read();
switch (sCmd) {
case 'd': // Calibrate to the right
Xangle = 90.0;
Xoffset+=1.0;
XAngle2Microseconds = 1000 + (Xangle+Xoffset)/90 * 500;
XServo.writeMicroseconds(XAngle2Microseconds);
delay(move_ms);
digitalWrite(TriggerPin, HIGH); // Trigger
delay(trigger_ms);
digitalWrite(TriggerPin, LOW);
Serial.print("X offset: ");
Serial.println(Xoffset);
break;
case 'a': // Calibrate to the left
Xangle = 90.0;
Xoffset-=1.0;
XAngle2Microseconds = 1000 + (Xangle+Xoffset)/90 * 500;
XServo.writeMicroseconds(XAngle2Microseconds);
delay(move_ms);
digitalWrite(TriggerPin, HIGH); // Trigger
delay(trigger_ms);
digitalWrite(TriggerPin, LOW);
Serial.print("X offset: ");
Serial.println(Xoffset);
break;
case 's': // Calibrate downwards
Yangle = 90.0;
Yoffset+=1.0;
YAngle2Microseconds = 1000 + (Yangle+Yoffset)/90 * 500;
YServo.writeMicroseconds(YAngle2Microseconds);
delay(move_ms);
digitalWrite(TriggerPin, HIGH); // Trigger
delay(trigger_ms);
digitalWrite(TriggerPin, LOW);
Serial.print("Y offset: ");
Serial.println(Yoffset);
break;
case 'w': // Calibrate upwards
Yangle = 90.0;
Yoffset-=1.0;
YAngle2Microseconds = 1000 + (Yangle+Yoffset)/90 * 500;
YServo.writeMicroseconds(YAngle2Microseconds);
delay(move_ms);
digitalWrite(TriggerPin, HIGH); // Trigger
delay(trigger_ms);
digitalWrite(TriggerPin, LOW);
Serial.print("Y offset: ");
Serial.println(Yoffset);
break;
case 'z': // Set both offsets to the Xoffset and Yoffsets determined in the beginning
Xangle = 90.0+Xoffset;
XAngle2Microseconds = 1000 + (Xangle+Xoffset)/90 * 500;
XServo.writeMicroseconds(XAngle2Microseconds);
Yangle = 90.0+Yoffset;
YAngle2Microseconds = 1000 + (Yangle+Yoffset)/90 * 500;
YServo.writeMicroseconds(YAngle2Microseconds);
delay(move_ms);
digitalWrite(TriggerPin, HIGH); // Trigger
delay(trigger_ms);
digitalWrite(TriggerPin, LOW);
Serial.print("X offset: ");
Serial.println(Xoffset);
Serial.print("Y offset: ");
Serial.println(Yoffset);
break;
case 'c': // Jump to 30 degree extremes clockwise
Serial.println("Checking 30 degree extreme points clockwise:");
Xangle = 90.0+Xoffset;
XAngle2Microseconds = 1000 + (Xangle+Xoffset)/90 * 500;
XServo.writeMicroseconds(XAngle2Microseconds);
Yangle = 90.0+Yoffset;
YAngle2Microseconds = 1000 + (Yangle+Yoffset)/90 * 500;
YServo.writeMicroseconds(YAngle2Microseconds);
Serial.print("center...");
digitalWrite(TriggerPin, HIGH); // Trigger
delay(trigger_ms);
digitalWrite(TriggerPin, LOW);
delay(1000);
Xangle = 90.0+Xoffset;
XAngle2Microseconds = 1000 + (Xangle+Xoffset)/90 * 500;
XServo.writeMicroseconds(XAngle2Microseconds);
Yangle = 120.0+Yoffset;
YAngle2Microseconds = 1000 + (Yangle+Yoffset)/90 * 500;
YServo.writeMicroseconds(YAngle2Microseconds);
Serial.print("up...");
digitalWrite(TriggerPin, HIGH); // Trigger
delay(trigger_ms);
digitalWrite(TriggerPin, LOW);
delay(1000);
Xangle = 120.0+Xoffset;
XAngle2Microseconds = 1000 + (Xangle+Xoffset)/90 * 500;
XServo.writeMicroseconds(XAngle2Microseconds);
Yangle = 90.0+Yoffset;
YAngle2Microseconds = 1000 + (Yangle+Yoffset)/90 * 500;
YServo.writeMicroseconds(YAngle2Microseconds);
Serial.print("right...");
digitalWrite(TriggerPin, HIGH); // Trigger
delay(trigger_ms);
digitalWrite(TriggerPin, LOW);
delay(1000);
Xangle = 90.0+Xoffset;
XAngle2Microseconds = 1000 + (Xangle+Xoffset)/90 * 500;
XServo.writeMicroseconds(XAngle2Microseconds);
Yangle = 60.0+Yoffset;
YAngle2Microseconds = 1000 + (Yangle+Yoffset)/90 * 500;
YServo.writeMicroseconds(YAngle2Microseconds);
Serial.print("down...");
digitalWrite(TriggerPin, HIGH); // Trigger
delay(trigger_ms);
digitalWrite(TriggerPin, LOW);
delay(1000);
Xangle = 60.0+Xoffset;
XAngle2Microseconds = 1000 + (Xangle+Xoffset)/90 * 500;
XServo.writeMicroseconds(XAngle2Microseconds);
Yangle = 90.0+Yoffset;
YAngle2Microseconds = 1000 + (Yangle+Yoffset)/90 * 500;
YServo.writeMicroseconds(YAngle2Microseconds);
Serial.print("left...");
digitalWrite(TriggerPin, HIGH); // Trigger
delay(trigger_ms);
digitalWrite(TriggerPin, LOW);
delay(1000);
Xangle = 90.0+Xoffset;
XAngle2Microseconds = 1000 + (Xangle+Xoffset)/90 * 500;
XServo.writeMicroseconds(XAngle2Microseconds);
Yangle = 90.0+Yoffset;
YAngle2Microseconds = 1000 + (Yangle+Yoffset)/90 * 500;
YServo.writeMicroseconds(YAngle2Microseconds);
Serial.print("center...");
digitalWrite(TriggerPin, HIGH); // Trigger
delay(trigger_ms);
digitalWrite(TriggerPin, LOW);
delay(1000);
Serial.println("done!");
break;
case 't': // Send a single trigger
Serial.println("Trigger sent");
digitalWrite(TriggerPin, HIGH); // Trigger
delay(trigger_ms);
digitalWrite(TriggerPin, LOW);
break;
case 'r': // Send 50 triggers without moving the servos
Serial.println("Sending 50 Triggers...");
int iCond;
for(iCond=0; iCond<50; iCond++) {
digitalWrite(TriggerPin, HIGH); // Trigger
delay(trigger_ms);
digitalWrite(TriggerPin, LOW);
delay(sampling_time_ms-trigger_ms);
}
Serial.println("done...");
break;
case 'q': // Switch between different scan modes
scanmode+=1;
if (scanmode>=nScanmodes) {scanmode = 0;}
Serial.print("Scan mode: ");
Serial.println(scanmode);
if (scanmode==0){Serial.println("100 point square @30 deg");}
if (scanmode==1){Serial.println("300 point spiral @30 deg");}
if (scanmode==2){Serial.println("600 point spiral @30 deg");}
if (scanmode==3){Serial.println("1000 point spiral @30 deg");}
if (scanmode==4){Serial.println("20 Hz Eyemove");}
break;
case 'p': // Run the selected scan
// Array Stimulus
Serial.println("Playing Arrays...");
PlayArrays();
break;
}
}
delay(100);
}
//////////////////////////////////////////
/// Playing the chosen scan path array ///
//////////////////////////////////////////
void PlayArrays ()
{
int nConds;
int iCond;
// Enter the array size here
if (scanmode==0) {nConds=100;}
if (scanmode==1) {nConds=300;}
if (scanmode==2) {nConds=600;}
if (scanmode==3) {nConds=1000;}
if (scanmode==4) {nConds=1200;}
for(iCond=0; iCond<nConds; iCond++) {
if (scanmode==0) { // 100 point 300 deg rectangle
Xangle=pgm_read_byte_near(square100X + iCond);
float Xangle_addon = pgm_read_byte_near(square100Xdec + iCond);
Xangle_addon/=10;
Xangle+=Xangle_addon;
Yangle=pgm_read_byte_near(square100Y + iCond);
float Yangle_addon = pgm_read_byte_near(square100Ydec + iCond);
Yangle_addon/=10;
Yangle+=Yangle_addon;
}
else if (scanmode==1) { // 300 point 30 deg spiral
Xangle=pgm_read_byte_near(spiral300X + iCond);
float Xangle_addon = pgm_read_byte_near(spiral300Xdec + iCond);
Xangle_addon/=10;
Xangle+=Xangle_addon;
Yangle=pgm_read_byte_near(spiral300Y + iCond);
float Yangle_addon = pgm_read_byte_near(spiral300Ydec + iCond);
Yangle_addon/=10;
Yangle+=Yangle_addon;
}
else if (scanmode==2) { // 600 point 30 deg spiral
Xangle=pgm_read_byte_near(spiral600X + iCond);
float Xangle_addon = pgm_read_byte_near(spiral600Xdec + iCond);
Xangle_addon/=10;
Xangle+=Xangle_addon;
Yangle=pgm_read_byte_near(spiral600Y + iCond);
float Yangle_addon = pgm_read_byte_near(spiral600Ydec + iCond);
Yangle_addon/=10;
Yangle+=Yangle_addon;
}
else if (scanmode==3) { // 1000 point 30 deg spiral
Xangle=pgm_read_byte_near(spiral1000X + iCond);
float Xangle_addon = pgm_read_byte_near(spiral1000Xdec + iCond);
Xangle_addon/=10;
Xangle+=Xangle_addon;
Yangle=pgm_read_byte_near(spiral1000Y + iCond);
float Yangle_addon = pgm_read_byte_near(spiral1000Ydec + iCond);
Yangle_addon/=10;
Yangle+=Yangle_addon;
}
else if (scanmode==4) { // Eyemove at 20 Hz
Xangle=pgm_read_byte_near(EyemoveX + iCond);
float Xangle_addon = pgm_read_byte_near(EyemoveXdec + iCond);
Xangle_addon/=10;
Xangle+=Xangle_addon;
Yangle=pgm_read_byte_near(EyemoveY + iCond);
float Yangle_addon = pgm_read_byte_near(EyemoveYdec + iCond);
Yangle_addon/=10;
Yangle+=Yangle_addon;
}
XAngle2Microseconds = 1000 + (Xangle+Xoffset)/90 * 500;
XServo.writeMicroseconds(XAngle2Microseconds);
YAngle2Microseconds = 1000 + (Yangle+Yoffset)/90 * 500;
YServo.writeMicroseconds(YAngle2Microseconds);
delay(move_ms);
digitalWrite(TriggerPin, HIGH);
delay(trigger_ms);
digitalWrite(TriggerPin, LOW);
Serial.print(iCond+1);
Serial.print("/");
Serial.println(nConds);
delay(sampling_time_ms-trigger_ms);
}
// Reset to center
digitalWrite(TriggerPin, HIGH);
delay(trigger_ms);
digitalWrite(TriggerPin, LOW);
Xangle=90.0;
XAngle2Microseconds = 1000 + (Xangle+Xoffset)/90 * 500;
XServo.writeMicroseconds(XAngle2Microseconds);
Yangle=90.0;
YAngle2Microseconds = 1000 + (Yangle+Yoffset)/90 * 500;
YServo.writeMicroseconds(YAngle2Microseconds);
}