Problem with sketch for PELCO-D

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1

Good evening to everyone.

I have a problem with a sketch i found in the forum for one PTZ camera control with 485.

This is the code:

/*
This program is used for an Arduino to receive and decode PELCO-D PTZ Commands

Thanks to Michael Blaylock for his sketch. Learning how to read and procces serial data

*/

#include <LiquidCrystal.h>

LiquidCrystal lcd(12, 11, 9, 8, 7, 6);

byte outArray[7]; // read data Pelco Command
unsigned stopcheck; // For checking when a STOP command is received (257 Decimal)
int checksum; // For Calculating Checksum. Sum of the payload bytes (bytes 2 through 6) in the message
int ByteNumber;
int MotorSpeed;

void setup(){

lcd.begin(16, 2); // set up the LCD's number of columns and rows:

Serial.begin(9600); // baud rate 9600 can be 1200,2400 or 4800

pinMode(3, OUTPUT);
pinMode(5, OUTPUT);
pinMode(13, OUTPUT);

digitalWrite(3, HIGH);
digitalWrite(5, HIGH);

}

void displayData() // Display the array in serial monitor for debugging
{
for (int j = 0; j<7; j+=1){
Serial.println(outArray[j],HEX);}
Serial.println("Data Printed");}

void loop()
{
if ( Serial.available () > 0) {
outArray[ByteNumber ++] = Serial.read();}

if ( ByteNumber > 6){ // process it
ByteNumber = 0; // ready for next time
// displayData(); // for debugging

stopcheck = outArray[0] + outArray[1] + outArray[2] + outArray[3] + outArray[4] + outArray[5] + outArray[6] ; // Calculate if STOP Command is received
if ( stopcheck == 257){ // When stopcheck is 257 decimal a STOP command is received
StopActions();} // Stop all PTZ Actions

else{ printCommand();} // Print Pelco command on LCD

if ( bitRead(outArray[3],0) == 0 ){ // When BIT 0 = 0 command 2 than data is Normal command (PTZ)
Decoderen();} // Try to decode the Pelco Command

if ( bitRead(outArray[3],0) == 1 ){ // When BIT 0 = 1 command 2 than data is an Extended command
ExtendedCommands();} // Try to decode the Extended Pelco Command

} // end if full
} // end of loop

void Decoderen()
{

lcd.setCursor(0,1);

MotorSpeed = map (outArray[4], 0, 0x3F, 255, 0);
// PAN TILT:
if ( bitRead(outArray[3],1) == 1 ){
analogWrite(3 , MotorSpeed);
// digitalWrite(3, HIGH);
lcd.print("RIGHT SPEED: ");
lcd.print(outArray[4]);}

if ( bitRead(outArray[3],2) == 1 ){
analogWrite(5, MotorSpeed);
// digitalWrite(5, HIGH);
lcd.print("LEFT SPEED: ");
lcd.print(outArray[4]);}

if ( bitRead(outArray[3],3) == 1 ){
lcd.print("UP SPEED: ");
lcd.print(outArray[5]);}

if ( bitRead(outArray[3],4) == 1 ){
lcd.print("DOWN SPEED: ");
lcd.print(outArray[5]);}

// ZOOM IRIS FOCUS:
if ( bitRead(outArray[2],2) == 1 ){
lcd.print("Iris Close");}
if ( bitRead(outArray[2],1) == 1 ){
lcd.print("Iris Open");}
if ( bitRead(outArray[2],0) == 1 ){
lcd.print("Focus Near");}
if ( bitRead(outArray[3],7) == 1 ){
lcd.print("Focus Far ");}
if ( bitRead(outArray[3],6) == 1 ){
lcd.print("Zoom Wide ");}
if ( bitRead(outArray[3],5) == 1 ){
lcd.print("Zoom Tele ");}

}

void ExtendedCommands()
{

lcd.setCursor(0,1);

if ( outArray[2] == 0 ){ // Only continu when Word 3 is 0

if ( outArray[3] == 0x03 ){ // SET PRESET
lcd.print("Set Preset: ");
lcd.print(outArray[5]-1);} // PRINT Preset. -1 to calculate right preset

if ( outArray[3] == 0x05 ){ // Clear Preset
lcd.print("Clear Preset:");
lcd.print(outArray[5]-1);} // PRINT Preset. -1 to calculate right preset

}}

My problem is the two lines in yellow becouse in the sketch never define that function (StopActions() and printCommand())

This is what i must to do:https://www.youtube.com/watch?v=6gcPpDErS9c

thanks everybody for the help !!!!

2

not sure if this will help or not , but try using 2,400 or 4,800 baud . I find 9,600 doesn't work well even with a Pelco PTZ controller.
Bob D