# HG changeset patch
# User mkroening@CL-ENS241-07.cedarville.edu
# Date 2013-03-21 16:56:16
# Node ID f7fad1196562712e7e14d1688c22d6f24cf62288
# Parent  9b507ed828baa51a6ab498d64c9562540424189a

Camera functions

diff --git a/slave/slave/lib/cameras.c b/slave/slave/lib/cameras.c
--- a/slave/slave/lib/cameras.c
+++ b/slave/slave/lib/cameras.c
@@ -34,11 +34,6 @@
 	 PORTA |= (1 << PA1);	// Pull pin on usb high
 	 PORTA |= (1 << PA2);	// Pull pin on usb high
 	 PORTA |= (1 << PA3);	// Pull pin on usb high
-	 _delay_ms(250);
-	 PORTA &= ~(1 << PA0);	// Pull pin on usb low
-	 PORTA &= ~(1 << PA1);	// Pull pin on usb low
-	 PORTA &= ~(1 << PA2);	// Pull pin on usb low
-	 PORTA &= ~(1 << PA3);	// Pull pin on usb low
  }
  
  int8_t cameras_getAccelX()
diff --git a/slave/slave/modules.c b/slave/slave/modules.c
--- a/slave/slave/modules.c
+++ b/slave/slave/modules.c
@@ -15,8 +15,10 @@
  #include "lib/i2c.h"
  #include "lib/sensors.h"
  #include "lib/loopTimer.h"
+ #include "lib/led.h"
  
  uint32_t lastPicture;
+ uint8_t pulseOn;
  
  void modules_setup(uint8_t id)
  {
@@ -109,6 +111,9 @@
   
  void modules_cameras_setup()
  {
+	 lastPicture = time_millis();
+	 pulseOn = time_millis();	 
+	 
 	 DDRA |= (1 << DDA0);	// Set PA0 to Output for Camera
 	 DDRA |= (1 << DDA1);	// Set PA1 to Output for Camera
 	 DDRA |= (1 << DDA2);	// Set PA2 to Output for Camera
@@ -143,15 +148,24 @@
  void modules_cameras()
  {
 	// Gathers data and performs functions for cameras daughter board
-
+		
 		cameras_readAccelXYZ();
 		
-		if ((time_millis() - lastPicture) > CAMERA_FREQ)	// Frequency of photos
+		if ((time_millis() - pulseOn) > CAMERA_PULSE)
 		{
-			cameras_sendPulse();
-			lastPicture = time_millis();
+			PORTA &= ~(1 << PA0);	// Pull pin on usb low
+			PORTA &= ~(1 << PA1);	// Pull pin on usb low
+			PORTA &= ~(1 << PA2);	// Pull pin on usb low
+			PORTA &= ~(1 << PA3);	// Pull pin on usb low
+			
+			if ((time_millis() - lastPicture) > CAMERA_FREQ)	// Frequency of photos
+			{
+				cameras_sendPulse();
+				lastPicture = time_millis();
+			}
+			
+			pulseOn = time_millis();
 		}
-			
-
+		
  } 
   
\ No newline at end of file
diff --git a/slave/slave/slave.c b/slave/slave/slave.c
--- a/slave/slave/slave.c
+++ b/slave/slave/slave.c
@@ -87,6 +87,7 @@ int main(void)
 		if ((time_millis() - lastLoop) > SENSOR_LOOP)	// Uses program timer to run every so often. Time interval defined in config.h
 		{
 			led_on(0);
+			
 			sensors_readBatt();				// Read Battery level
 			sensors_readBoardTemp();		// Read board temperature sensor (Common on all slaves) (Data Read)
 			modules_run(io_getModuleId());	// Runs specific module functions (like data reading)