Version bump

- Update all classes to more verbosely log what's going on.
- Update readme and udev rule for automatic camera checking
- Add dependency-checking plugin to pom.xml
- Add GPIO check on initialisation, and override to not drive GPIO if
  not plugged in
- Continue updating functions to be closer and more accurate to
  documentation

83-webcam.rules

@@ -1,2 +1,2 @@
-##EXAMPLE: ACTION=="add", KERNEL=="video[0-9]*", SUBSYSTEM=="video4linux", SUBSYSTEMS=="usb", ENV{ID_PATH}=="platform-fd500000.pcie-pci-0000:01:00.0-usb-0:1.4:1.0", SYMLINK+="video-cam1"
+##EXAMPLE: ACTION=="add", KERNEL=="video[0-9]*", SUBSYSTEM=="video4linux", SUBSYSTEMS=="usb", ENV{ID_PATH}=="platform-fd500000.pcie-pci-0000:01:00.0-usb-0:1.4:1.0", SYMLINK+="video-cam-left"
-ACTION=="add", KERNEL=="video[0-9]*", SUBSYSTEM=="video4linux", SUBSYSTEMS=="usb", ENV{ID_PATH}=="fillerText", SYMLINK+="video-cam1"
+ACTION=="add", KERNEL=="video[0-9]*", SUBSYSTEM=="video4linux", SUBSYSTEMS=="usb", ENV{ID_PATH}=="fillerText", SYMLINK+="video-cam-left"

README.md

@@ -94,7 +94,7 @@ ls /dev/video-*
 
 ## Installation
 
-The project is then built from source, and the output final binary (located in `target/discoTesting.jar`) is copied to the Raspberry Pi for use.
+The project is then built from source, and the output final binary (located in `target/discoTesting-[version].jar`) is copied to the Raspberry Pi for use.
 
 This project requires use of `udev` rules to ensure that cameras are in the proper location, by default. This can be modified in this project (camera initialisation is done in the initialisation of `OpenCVFacade`).
 

dependency-reduced-pom.xml

@@ -4,7 +4,7 @@
   <groupId>org.baxter.disco</groupId>
   <artifactId>ocr</artifactId>
   <name>Disco OCR Accuracy Over Life Testing</name>
-  <version>4.3.7</version>
+  <version>4.3.8</version>
   <description>Testing Discos for long-term accuracy, using automated optical character recognition.</description>
   <organization>
     <name>Baxter International</name>
@@ -26,11 +26,6 @@
       <plugin>
         <artifactId>maven-project-info-reports-plugin</artifactId>
         <version>3.0.0</version>
-        <configuration>
-          <suppressionFiles>
-            <suppressionFile>./dependency-check-suppressions.xml</suppressionFile>
-          </suppressionFiles>
-        </configuration>
       </plugin>
       <plugin>
         <artifactId>maven-javadoc-plugin</artifactId>
@@ -100,6 +95,9 @@
       <plugin>
         <artifactId>maven-javadoc-plugin</artifactId>
         <version>3.4.1</version>
+        <configuration>
+          <show>private</show>
+        </configuration>
       </plugin>
     </plugins>
   </reporting>

pom.xml

@@ -3,7 +3,7 @@
     <modelVersion>4.0.0</modelVersion>
     <groupId>org.baxter.disco</groupId>
     <artifactId>ocr</artifactId>
-    <version>4.3.7</version>
+    <version>4.3.8</version>
     <packaging>jar</packaging>
     <name>Disco OCR Accuracy Over Life Testing</name>
     <description>Testing Discos for long-term accuracy, using automated optical character recognition.</description>
@@ -106,11 +106,11 @@
                 <groupId>org.owasp</groupId>
                 <artifactId>dependency-check-maven</artifactId>
                 <version>8.1.2</version>
-                <configuration>
+                <!--<configuration>
                     <suppressionFiles>
                         <suppressionFile>dependency-check-suppressions.xml</suppressionFile>
                     </suppressionFiles>
-                </configuration>
+                </configuration>-->
             </plugin>
             <plugin>
                 <groupId>org.apache.maven.plugins</groupId>
@@ -192,9 +192,9 @@
                 <groupId>org.apache.maven.plugins</groupId>
                 <artifactId>maven-javadoc-plugin</artifactId>
                 <version>3.4.1</version>
-                <!--<configuration>
+                <configuration>
                     <show>private</show>
-                </configuration>-->
+                </configuration>
             </plugin>
         </plugins>
     </reporting>

runScript.sh

@@ -1,2 +1,2 @@
 #! /usr/bin/env sh
-sudo java -jar discoTesting-4.3.7.jar 2>/dev/null
+sudo java -jar discoTesting-4.3.8.jar 2>/dev/null

src/main/java/org/baxter/disco/ocr/Cli.java

@@ -25,7 +25,7 @@ public class Cli
     /**
      * Complete build version number
      */
-    private static final String version = "4.3.7";
+    private static final String version = "4.3.8";
 
     /**
      * Currently saved iteration count.
@@ -50,6 +50,11 @@ public class Cli
      */
     private static boolean camerasConfigured = false;
 
+    /**
+     * Whether GPIO is safe to use
+     */
+    private static boolean safeGPIO = false;
+
     /**
      * Number of options currently available in the main menu.
      */
@@ -85,7 +90,31 @@ public class Cli
 
             ErrorLogging.logError("Calibrating motor movement. ");
             ErrorLogging.logError("The piston will fire momentarily when the motor calibration is complete.");
-            MovementFacade.pressButton();
+            
+            boolean testedGPIO = false;
+            do
+            {
+                try
+                {
+                    MovementFacade.init();
+                    ErrorLogging.logError("Motor movement successfully calibrated!");
+                    testedGPIO = true;
+                    safeGPIO = true;
+                }
+                catch(Exception e)
+                {
+                    ErrorLogging.logError(e);
+                    ErrorLogging.logError("GPIO initialisation error! Please check GPIO connections.");
+                    println("");
+                    prompt("Press enter to try again."); 
+                    String userInputString = inputScanner.nextLine();
+                    if(userInputString.length() > 0)
+                    {
+                        testedGPIO = userInputString.contains("override");
+                        ErrorLogging.logError("DEBUG: WARNING! - User override of GPIO check.");
+                    }
+                }
+            }while(!testedGPIO);
 
             do
             {
@@ -188,6 +217,7 @@ public class Cli
      */
     private static void printHelp()
     {
+        ErrorLogging.logError("DEBUG: User asked for help at main menu.");
         println("\n\n");
         println("========================================");
         println("Explanations:");
@@ -348,6 +378,7 @@ public class Cli
      */
     private static void printCameraConfigHelpMenu()
     {
+        ErrorLogging.logError("DEBUG: User asked for help at camera config menu.");
         println("\n\n");
         println("============================================================");
         println("Camera Config Menu options:");
@@ -389,10 +420,11 @@ public class Cli
      */
     private static void configureCameras()
     {
+        ErrorLogging.logError("DEBUG: Configuing cameras...");
         List<String> cameraList = new ArrayList<>(OpenCVFacade.getCameraNames());
 
         //Always wake the camera, to ensure that the image is useful
-        MovementFacade.iterationMovement(true);
+        if(safeGPIO) MovementFacade.iterationMovement(true);
         double tesseractValue = 0.0;
 
         do
@@ -413,12 +445,15 @@ public class Cli
             else cameraName = cameraList.get((userInput));
 
             do
+            {
+                if(safeGPIO)
                 {
                     //Press button twice, to make sure the DUT is awake
                     MovementFacade.pressButton();
                     try{ Thread.sleep(2000); } catch(Exception e){ ErrorLogging.logError(e); }
                     MovementFacade.pressButton();
                     try{ Thread.sleep(2000); } catch(Exception e){ ErrorLogging.logError(e); }
+                }
 
                 File image = OpenCVFacade.showImage(cameraName);
                 tesseractValue = TesseractFacade.imageToDouble(image);
@@ -497,6 +532,7 @@ public class Cli
      */
     private static void setDUTSerials()
     {
+        ErrorLogging.logError("DEBUG: Setting DUT serials...");
         List<String> cameraList = new ArrayList<>(OpenCVFacade.getCameraNames());
         do
         {
@@ -534,6 +570,7 @@ public class Cli
             input = (int)inputFiltering(inputScanner.nextLine());
         } while(input == -1);
         iterationCount = input;
+        ErrorLogging.logError("DEBUG: Iteration count modified! Iteration count is now: " + iterationCount);
     }
 
     /**
@@ -541,6 +578,7 @@ public class Cli
      */
     private static void setActiveCameras()
     {
+        ErrorLogging.logError("DEBUG: User modified active cameras.");
         List<String> cameraList = new ArrayList<>(OpenCVFacade.getCameraNames());
 
         do
@@ -564,6 +602,13 @@ public class Cli
             ConfigFacade.setValue(cameraName,ConfigProperties.ACTIVE,newValue);
 
         } while(true);
+        ErrorLogging.logError("DEBUG: Currently active cameras:");
+        for(String camera : OpenCVFacade.getCameraNames())
+        {
+            if(ConfigFacade.getValue(camera,ConfigProperties.ACTIVE) != 0)
+                ErrorLogging.logError("DEBUG: - " + camera);
+        }
+        ErrorLogging.logError("DEBUG:");
     }
 
     /**
@@ -594,8 +639,11 @@ public class Cli
 
         //Wake the device, then wait to ensure they're awake before continuing
         ErrorLogging.logError("DEBUG: Waking devices...");
+        if(safeGPIO) 
+        {
             MovementFacade.pressButton();
             try{ Thread.sleep(2000); } catch(Exception e){ ErrorLogging.logError(e); }
+        }
 
         Map<File,Double> resultMap = new HashMap<>();
         Map<String,File> cameraToFile = new HashMap<>();
@@ -623,12 +671,15 @@ public class Cli
             do
             {
                 fail = false;
+                if(safeGPIO)
+                {
                     while(!LOCK.tryLock()) {}
                     MovementFacade.iterationMovement(prime);
                     LOCK.unlock();
 
                     //Wait for the DUT to display an image
                     try{ Thread.sleep(2000); } catch(Exception e){ ErrorLogging.logError(e); }
+                }
 
                 for(String cameraName : cameraList)
                 {
@@ -692,7 +743,7 @@ public class Cli
         ErrorLogging.logError("DEBUG: PROGRAM CLOSING.");
         ErrorLogging.logError("DEBUG: =================");
         if(inputScanner != null) inputScanner.close();
-        MovementFacade.closeGPIO();
+        if(safeGPIO) MovementFacade.closeGPIO();
         ErrorLogging.logError("DEBUG: END OF PROGRAM.");
         ErrorLogging.closeLogs();
         println("The program has exited successfully. Please press Ctrl-c to return to the terminal prompt.");

src/main/java/org/baxter/disco/ocr/ConfigFacade.java

@@ -148,6 +148,7 @@ public class ConfigFacade
      */
     public static double getValue(String cameraName, ConfigProperties property)
     {
+        ErrorLogging.logError("DEBUG: Getting " + property.getConfig() + " for " + cameraName + "camera...");
         double output = 0.0;
         if(!CONFIG_MAP.keySet().contains(cameraName)) 
         {
@@ -163,7 +164,7 @@ public class ConfigFacade
     }
 
     /**
-     * Called to force early calling of the static block
+     * Initialises ConfigFacade and OpenCVFacade values
      */
     public static void init() {}
 
@@ -182,12 +183,18 @@ public class ConfigFacade
      */
     public static boolean setOutputSaveLocation(String path)
     {
+        ErrorLogging.logError("DEBUG: Output save location modified!");
         boolean output = false;
         if(Files.exists(Paths.get(path)))
         {
             outputSaveLocation = path;
+            ErrorLogging.logError("DEBUG: New output save location: " + outputSaveLocation);
             output = true;
         }
+        else
+        {
+            ErrorLogging.logError("DEBUG: Output save location modification failed.");
+        }
         return output;
     }
     
@@ -206,12 +213,18 @@ public class ConfigFacade
      */
     public static boolean setImgSaveLocation(String path)
     {
+        ErrorLogging.logError("DEBUG: Image save location modified!");
         boolean output = false;
         if(Files.exists(Paths.get(path)))
         {
             imageSaveLocation = path;
+            ErrorLogging.logError("DEBUG: New image save location: " + outputSaveLocation);
             output = true;
         }
+        else
+        {
+            ErrorLogging.logError("DEBUG: Output save location modification failed.");
+        }
         return output;
     }
     
@@ -225,6 +238,7 @@ public class ConfigFacade
      */
     public static boolean setValue(String cameraName, ConfigProperties property, double propertyValue)
     {
+        ErrorLogging.logError("DEBUG: Setting " + property.getConfig() + " to " + propertyValue + "for " + cameraName);
         boolean output = false;
 
         List<String> activeCameras = new ArrayList<>(OpenCVFacade.getCameraNames());
@@ -278,6 +292,7 @@ public class ConfigFacade
      */
     public static boolean saveDefaultConfig(String filename)
     {
+        ErrorLogging.logError("DEBUG: Saving default config to " + filename);
         boolean output = false;
         Set<String> cameraNames = OpenCVFacade.getCameraNames();
 
@@ -335,6 +350,7 @@ public class ConfigFacade
      */
     public static boolean saveCurrentConfig(String filename)
     {
+        ErrorLogging.logError("DEBUG: Saving current config to " + filename);
         boolean output = false;
 
         //Get a list of all cameras
@@ -379,6 +395,7 @@ public class ConfigFacade
      */
     public static boolean loadConfig(String filename)
     {
+        ErrorLogging.logError("DEBUG: Attempting to load config from " + filename);
         //Check if the current CONFIG_MAP is empty
         boolean emptyMap = CONFIG_MAP.keySet().size() == 0;
         boolean output = false;
@@ -386,7 +403,14 @@ public class ConfigFacade
         //If the config file we're trying to load from doesn't exist, failover to saving
         //the default values to a new file with that name
         File file = new File(filename);
-        try{ if(file.createNewFile()) return saveDefaultConfig(); }
+        try
+        { 
+            if(file.createNewFile()) 
+            {
+                ErrorLogging.logError("DEBUG: Listed file does not exist!");
+                return saveDefaultConfig(); 
+            }
+        }
         catch(Exception e)
         {
             ErrorLogging.logError(e);
@@ -461,6 +485,7 @@ public class ConfigFacade
      */
     private static boolean saveSingleDefault(String sectionName)
     {
+        ErrorLogging.logError("DEBUG: Section unsuccessfully imported! Saving defaults to " + sectionName);
         boolean output = false;
         Map<ConfigProperties,Double> cameraConfig = new HashMap<>();
         for(ConfigProperties property : ConfigProperties.values())

src/main/java/org/baxter/disco/ocr/DataSaving.java

@@ -91,6 +91,7 @@ public class DataSaving
      */
     public static boolean initWorkbook(String filename, int camCount, double targetTemp, double failRange)
     {
+        ErrorLogging.logError("DEBUG: Initialising workbook...");
         DataSaving.targetTemp = targetTemp;
         DataSaving.failRange = failRange;
         boolean output = false;
@@ -148,8 +149,15 @@ public class DataSaving
         passPercentCell.setCellValue("Pass %");
 
         try (FileOutputStream outputStream = new FileOutputStream(outputFile))
-        { outputWorkbook.write(outputStream); }
+        { 
-        catch(Exception e) {ErrorLogging.logError(e);}
+            outputWorkbook.write(outputStream); 
+            ErrorLogging.logError("DEBUG: Initialising workbook completed successfully.");
+        }
+        catch(Exception e) 
+        {
+            ErrorLogging.logError("DEBUG: Workbook save failed!");
+            ErrorLogging.logError(e);
+        }
 
         return output;
     }
@@ -161,6 +169,7 @@ public class DataSaving
      */
     private static void updateFormulas(int cameraCount)
     {
+        ErrorLogging.logError("DEBUG: Updating formulas in Excel sheet...");
         int rowIndex = 0;
         FormulaEvaluator formulaEvaluator = outputWorkbook.getCreationHelper().createFormulaEvaluator();
         int lastColumnOfData = outputSheet.getRow(rowIndex).getLastCellNum();
@@ -224,6 +233,7 @@ public class DataSaving
      */
     public static boolean writeValues(int cycle, Map<File,Double> inputMap, Map<String,File> cameraToFile)
     {
+        ErrorLogging.logError("Writing values for " + cycle + " cycle to worksheet.");
         boolean output = false;
         int cellnum = 0;
         int startingRow = outputSheet.getLastRowNum();
@@ -283,8 +293,16 @@ public class DataSaving
             row.createCell(cellnum++);
         }
         try (FileOutputStream outputStream = new FileOutputStream(outputFile))
-        { outputWorkbook.write(outputStream); output = true; }
+        { 
-        catch(Exception e) {ErrorLogging.logError(e);}
+            outputWorkbook.write(outputStream); 
+            output = true; 
+            ErrorLogging.logError("DEBUG: Writing values to Excel sheet was successful.");
+        }
+        catch(Exception e) 
+        {
+            ErrorLogging.logError("DEBUG: Writing values to Excel sheet failed!");
+            ErrorLogging.logError(e);
+        }
         updateFormulas(cameraNames.size());
         return output;
     }

src/main/java/org/baxter/disco/ocr/MovementFacade.java

@@ -39,11 +39,24 @@ public class MovementFacade
 
     /**
      * Amount of distance to travel.
-     * Measured in... seemingly arbitrary units? Not sure on the math here.
+     * Measured in polls (~10ms intervals currently)
      * Set in {@link #findDistance()}
      */
     private static double TRAVEL_DIST;
 
+    /**
+     * How many milliseconds to wait before polling the GPIO
+     */
+    private static final int POLL_WAIT = 10;
+
+    /**
+     * How many polls before assuming bad GPIO connection.
+     * Fixture movement takes approximately 2.5s, or 250 polls.
+     * Double this to account for errors, or slower fixtures.
+     */
+    private static final int TIMEOUT = 500;
+
+
     //PWM Addresses
     //All addresses are in BCM format.
 
@@ -77,11 +90,6 @@ public class MovementFacade
      */
     private static final int LOWER_LIMIT_ADDR = 24;
 
-    /**
-     * How many milliseconds to wait before polling the GPIO
-     */
-    private static final int POLL_WAIT = 10;
-
     //Pi GPIO pin objects
     
     /**
@@ -149,8 +157,32 @@ public class MovementFacade
      */
     private static Context pi4j;
 
-    static
+    public static void init() throws Exception
     {
+        pi4j = Pi4J.newAutoContext();
+
+        ErrorLogging.logError("DEBUG: Opening input GPIO pins...");
+        upperLimit = inputBuilder(UPPER_LIMIT_ADDR);
+        lowerLimit = inputBuilder(LOWER_LIMIT_ADDR);
+        runSwitch  = inputBuilder(RUN_SWITCH_ADDR);
+
+        ErrorLogging.logError("DEBUG: Opening output GPIO pins...");
+        motorEnable    = outputBuilder(MOTOR_ENABLE_ADDR);
+        motorDirection = outputBuilder(MOTOR_DIRECTION_ADDR);
+        pistonActivate = outputBuilder(PISTON_ADDR);
+
+        try
+        {
+            findDistance();
+            pressButton();
+        }
+        catch(Exception e)
+        {
+            ErrorLogging.logError(e);
+            pi4j.shutdown();
+            throw new Exception("GPIO init error!!! Check GPIO connections.");
+        }
+
         ErrorLogging.logError("DEBUG: Starting lock thread...");
         runSwitchThread = new Thread(() -> 
                 {
@@ -175,17 +207,6 @@ public class MovementFacade
                 }, "Run switch monitor.");
         runSwitchThread.start();
 
-        pi4j = Pi4J.newAutoContext();
-
-        upperLimit = inputBuilder(UPPER_LIMIT_ADDR);
-        lowerLimit = inputBuilder(LOWER_LIMIT_ADDR);
-        runSwitch  = inputBuilder(RUN_SWITCH_ADDR);
-
-        motorEnable    = outputBuilder(MOTOR_ENABLE_ADDR);
-        motorDirection = outputBuilder(MOTOR_DIRECTION_ADDR);
-        pistonActivate = outputBuilder(PISTON_ADDR);
-
-        findDistance();
     }
 
 
@@ -230,27 +251,23 @@ public class MovementFacade
     public static int resetArm()
     {
         ErrorLogging.logError("DEBUG: --------------------------------------");
+        ErrorLogging.logError("DEBUG: Resetting arm...");
         int counter;
-        ErrorLogging.logError("DEBUG: Setting minimum frequency of PWM...");
         if(upperLimit.isHigh())
         {
             ErrorLogging.logError("DEBUG: Motor at highest point! Lowering to reset.");
-            motorDirection.low();
+            motorDirectionDown();
-            ErrorLogging.logError("DEBUG: Motor offset on.");
+            motorOn();
-            motorEnable.on();
             try{ Thread.sleep(500); }
             catch (Exception e){ ErrorLogging.logError(e); }
-            motorEnable.off();
+            motorOff();
-            ErrorLogging.logError("DEBUG: Motor offset off.");
         }
         ErrorLogging.logError("DEBUG: Moving motor to highest point.");
-        motorDirection.high();
+        motorDirectionUp();
 
-        ErrorLogging.logError("DEBUG: Motor return on.");
+        motorOn();
-        motorEnable.on();
 
-        ErrorLogging.logError("DEBUG: Is the upper limit switch reached? " + upperLimit.isHigh());
+        for(counter = 0; counter < TIMEOUT; counter++)
-        for(counter = 0; counter < Integer.MAX_VALUE; counter++)
         { 
             try{ Thread.sleep(POLL_WAIT); } catch(Exception e){ ErrorLogging.logError(e); }
             if(upperLimit.isOn()) 
@@ -259,23 +276,33 @@ public class MovementFacade
                 if(upperLimit.isOn()) break;
             }
         }
-        motorEnable.off();
+        motorOff();
+        if(counter < TIMEOUT)
+        {
             ErrorLogging.logError("DEBUG: Motor returned after " + counter + " polls.");
             ErrorLogging.logError("DEBUG: --------------------------------------");
             return counter;
         }
+        else
+        {
+            ErrorLogging.logError("DEBUG: No motor return after 30 seconds.");
+            ErrorLogging.logError("DEBUG: --------------------------------------");
+            return -1;
+        }
+    }
 
     /**
      * Used to programmatically find the distance between the upper and lower limit switches.
      */
-    private static void findDistance()
+    private static void findDistance() throws Exception
     {
-        resetArm();
+        ErrorLogging.logError("DEBUG: Measuring travel time to buttons...");
+        int safeGPIO = resetArm();
+        if(safeGPIO < 0) throw new Exception("Failed GPIO initialisation!");
         int downTravelCounter = 0;
         int upTravelCounter = 0;
-        //pwm.on(DUTY_CYCLE, MIN_FREQUENCY);
+        motorDirectionDown();
-        motorDirection.low();
+        motorOn();
-        motorEnable.on();
         for(downTravelCounter = 0; downTravelCounter < Integer.MAX_VALUE; downTravelCounter++)
         {
             try{ Thread.sleep(POLL_WAIT); } catch(Exception e){ ErrorLogging.logError(e); }
@@ -285,13 +312,13 @@ public class MovementFacade
                 if(lowerLimit.isOn()) break;
             }
         }
-        motorEnable.off();
+        motorOff();
         if(lowerLimit.isOff()) ErrorLogging.logError("DEBUG: False positive on findDistance down!");
         
         ErrorLogging.logError("DEBUG: Down travel count: " + downTravelCounter);
 
-        motorDirection.high();
+        motorDirectionUp();
-        motorEnable.on();
+        motorOn();
         for(upTravelCounter = 0; upTravelCounter < Integer.MAX_VALUE; upTravelCounter++)
         { 
             try{ Thread.sleep(POLL_WAIT); } catch(Exception e){ ErrorLogging.logError(e); }
@@ -301,7 +328,7 @@ public class MovementFacade
                 if(upperLimit.isOn()) break;
             }
         }
-        motorEnable.off();
+        motorOff();
         if(upperLimit.isOff()) ErrorLogging.logError("DEBUG: False positive on findDistance up!");
 
         ErrorLogging.logError("DEBUG: Up travel count: " + downTravelCounter);
@@ -327,15 +354,13 @@ public class MovementFacade
         DigitalInput limitSense;
         if(moveUp)  
         {
-            motorDirection.high();
+            motorDirectionUp();
             limitSense = upperLimit;
-            ErrorLogging.logError("DEBUG: Sending fixture up...");
         }
         else        
         {
-            motorDirection.low();
+            motorDirectionDown();
             limitSense = lowerLimit;
-            ErrorLogging.logError("DEBUG: Sending fixture down...");
         }
 
         if(limitSense.isOn()) return FinalState.SAFE;
@@ -346,17 +371,17 @@ public class MovementFacade
         ErrorLogging.logError("DEBUG: Travel time: " + totalPollCount);
         ErrorLogging.logError("DEBUG: High speed poll count: " + highSpeedPolls);
         ErrorLogging.logError("DEBUG: =============================");
-        motorEnable.on();
+        motorOn();
         for(int i = 0; i < highSpeedPolls; i++)
         {
             try{ Thread.sleep(POLL_WAIT); } catch(Exception e){ ErrorLogging.logError(e); }
             if(limitSense.isOn())
             {
-                motorEnable.off();
+                motorOff();
                 break;
             }
         }
-        motorEnable.off();
+        motorOff();
 
         output = (limitSense.isOn() ? FinalState.UNSAFE : FinalState.SAFE);
 
@@ -417,6 +442,33 @@ public class MovementFacade
         pressButton();
     }
 
+    private static void motorOn()
+    {
+        ErrorLogging.logError("DEBUG: Motor on.");
+        motorEnable.on();
+    }
+
+    private static void motorOff()
+    {
+        ErrorLogging.logError("DEBUG: Motor off.");
+        motorEnable.off();
+    }
+
+    private static void motorDirectionUp()
+    {
+        ErrorLogging.logError("DEBUG: Motor travelling up.");
+        motorDirection.high();
+    }
+
+    private static void motorDirectionDown()
+    {
+        ErrorLogging.logError("DEBUG: Motor travelling down.");
+        motorDirection.low();
+    }
+
+    /**
+     * Possible states for motor control movement.
+     */
     public enum FinalState
     { UNSAFE, SAFE, FAILED; }
 }

src/main/java/org/baxter/disco/ocr/OpenCVFacade.java

@@ -27,6 +27,7 @@ import java.util.Map;
 import java.util.Set;
 import java.io.File;
 import java.time.LocalDateTime;
+import java.util.ArrayList;
 import java.util.HashMap;
 import java.util.LinkedList;
 import java.util.List;
@@ -155,6 +156,7 @@ public class OpenCVFacade
      */
     private static Mat takePicture(String cameraName)
     {
+        ErrorLogging.logError("DEBUG: Taking picture...");
         Mat output = null;
         Frame temp = null;
 
@@ -162,12 +164,16 @@ public class OpenCVFacade
         {
             try{ temp = cameraMap.get(cameraName).grab(); }
             catch(Exception e) { ErrorLogging.logError(e); }
-        }
 
             //Convert to grayscale
             Mat in = MAT_CONVERTER.convertToMat(temp);
             output = MAT_CONVERTER.convertToMat(temp);
             cvtColor(in,output,CV_BGR2GRAY);
+        }
+        else
+        {
+            ErrorLogging.logError("DEBUG: Invalid camera!");
+        }
 
         return output;
     }
@@ -181,6 +187,7 @@ public class OpenCVFacade
      */
     public static File showImage(String cameraName)
     {
+        ErrorLogging.logError("DEBUG: Showing preview...");
         File imageLocation = completeProcess(cameraName,ConfigFacade.getImgSaveLocation() + "/config");
         if(imageLocation == null) return null;
         Frame outputImage = MAT_CONVERTER.convert(imread(imageLocation.getAbsolutePath()));
@@ -213,6 +220,7 @@ public class OpenCVFacade
      */
     private static List<Mat> takeBurst(String cameraName, int frameCount)
     {
+        ErrorLogging.logError("DEBUG: Taking burst of " + frameCount + " images...");
         List<Mat> output = null;
         if(getCameraNames().contains(cameraName))
         {
@@ -222,6 +230,10 @@ public class OpenCVFacade
                 output.add(takePicture(cameraName));
             }
         }
+        else
+        {
+            ErrorLogging.logError("DEBUG: Invalid camera!");
+        }
         return output;
     }
 
@@ -233,6 +245,9 @@ public class OpenCVFacade
     public static void setCrop(String cameraName)
     {
         Mat uncroppedImage = takePicture(cameraName);
+        if(uncroppedImage != null)
+        {
+            ErrorLogging.logError("DEBUG: Allowing user to modify crop.");
             Rect roi = selectROI("Pick Crop Location", uncroppedImage);
             if(roi.x() == 0 && roi.y() == 0 && roi.width() == 0 && roi.height() == 0)
             {
@@ -249,6 +264,7 @@ public class OpenCVFacade
             ConfigFacade.setValue(cameraName,ConfigProperties.CROP_W, roi.width());
             ConfigFacade.setValue(cameraName,ConfigProperties.CROP_H, roi.height());
         }
+    }
 
     /**
      * Crop a given image, based on dimensions in the configuration.
@@ -322,6 +338,7 @@ public class OpenCVFacade
      */
     private static File saveImage(Mat image, String fileLocation, String cameraName)
     {
+        ErrorLogging.logError("DEBUG: Saving image from " + cameraName + " to " + fileLocation);
         File output = null;
         IplImage temp = MAT_CONVERTER.convertToIplImage(MAT_CONVERTER.convert(image));
         fileLocation = fileLocation + "/" + ErrorLogging.fileDatetime.format(LocalDateTime.now()) + "-" + cameraName + ".png";
@@ -337,30 +354,21 @@ public class OpenCVFacade
      * from {@link ConfigFacade}.
      *
      * @param images        List of images to be composed
-     * @param threshold     Whether to put the image through a binary threshold
-     * @param crop          Whether to crop the image
-     * @param cameraName    Name of the camera the images came from (used to determine crop sizing and threshold value)
-     *
      * @return A single image, found by boolean AND-ing together all parsed images.
      */
-    private static Mat compose(List<Mat> images, boolean threshold, 
+    private static Mat compose(List<Mat> images)
-                                boolean crop, String cameraName)
     {
         ErrorLogging.logError("DEBUG: Attempting to compose " + images.size() + " images...");
         Mat output = null;
-        int iterationCount = 1;
         for(Mat image : images)
         { 
             Mat processedImage = image.clone();
             image.copyTo(processedImage);
-            if(crop)        processedImage = crop(processedImage,cameraName);
-            if(threshold)   processedImage = thresholdImage(processedImage,cameraName);
 
-            if(iterationCount == 1) output = processedImage.clone();
+            if(output == null) output = processedImage.clone();
 
-            bitwise_and((iterationCount == 1 ? processedImage : output),processedImage, output);
+            bitwise_and(output,processedImage, output);
 
-            iterationCount++;
         }
 
         if(output != null)  ErrorLogging.logError("DEBUG: Compositing successful!");
@@ -391,8 +399,32 @@ public class OpenCVFacade
             return output;
         }
         List<Mat> imageList = takeBurst(cameraName, compositeFrames);
+        List<Mat> processedImageList = new ArrayList<>();
 
-        Mat finalImage = compose(imageList, threshold, crop, cameraName);
+        Mat finalImage = null;
+        if(crop)        ErrorLogging.logError("Cropping is enabled.");
+        if(threshold)   ErrorLogging.logError("Thresholding is enabled.");
+        for(Mat image : imageList)
+        {
+            Mat processedImage = image.clone();
+            image.copyTo(processedImage);
+
+            if(crop)        
+                processedImage = crop(processedImage,cameraName);
+
+            if(threshold)   
+                processedImage = thresholdImage(processedImage,cameraName);
+
+            if(finalImage == null) 
+                finalImage = processedImage.clone();
+
+            processedImageList.add(processedImage);
+        }
+
+        if(compositeFrames > 1) 
+            finalImage = compose(processedImageList);
+
+        //Mat finalImage = compose(imageList, threshold, crop, cameraName);
         output = saveImage(finalImage, saveLocation,cameraName);
         return output;
     }

src/main/java/org/baxter/disco/ocr/TesseractFacade.java

@@ -101,6 +101,7 @@ public class TesseractFacade
                 else ErrorLogging.logError("OCR ERROR!!! - OCR output is not a Double.");
             }
         }
+        else { ErrorLogging.logError("OCR Failed to retrieve information!"); }
         return output;
     }
 }