Foreign-Mirrors/Pan-Tilt-Mount
1
0
Fork 0
mirror of https://github.com/isaac879/Pan-Tilt-Mount.git synced 2026-08-16 13:03:15 +02:00
Code Issues Packages Projects Releases Wiki Activity

Add files via upload

Browse Source
This commit is contained in:
isaac879
2020-06-08 02:07:01 +01:00
committed by GitHub
parent a04e2a950b
commit 77133d6af1
3 changed files with 22 additions and 27 deletions
Download Patch File Download Diff File Expand all files Collapse all files
pan_tilt_mount_nano_code_pcb/panTiltMount.cpp
+19 -25
View File
@@ -260,25 +260,12 @@ void debugReport(void){
// printi(F("Pan current º/s: "), panStepsToDegrees(stepper_pan.speed()));
// printi(F("Tilt current º/s: "), tiltStepsToDegrees(stepper_tilt.speed()));
// printi(F("Slider current mm/s: "), sliderStepsToMillimetres(stepper_slider.speed()));
// printi(F("Pan maximum steps/s: "), stepper_pan.maxSpeed());
// printi(F("Tilt maximum steps/s: "), stepper_tilt.maxSpeed());
// printi(F("Slider maximum steps/s: "), stepper_slider.maxSpeed());
printi(F("Pan max steps/s: "), stepper_pan.maxSpeed());
printi(F("Tilt max steps/s: "), stepper_tilt.maxSpeed());
printi(F("Slider max steps/s: "), stepper_slider.maxSpeed());
printi(F("Pan max speed: "), panStepsToDegrees(stepper_pan.maxSpeed()), 3, F("º/s\n"));
printi(F("Tilt max speed: "), tiltStepsToDegrees(stepper_tilt.maxSpeed()), 3, F("º/s\n"));
printi(F("Slider max speed: "), sliderStepsToMillimetres(stepper_slider.maxSpeed()), 3, F("mm/s\n"));
// printi(F("Pan acceleration steps/s/s: "), pan_acceleration);
// printi(F("Tilt acceleration steps/s/s: "), tilt_acceleration);
// printi(F("Slider acceleration steps/s/s: "), slider_acceleration);
// printi(F("Pan acceleration º/s/s: "), panStepsToDegrees(pan_acceleration));
// printi(F("Tilt acceleration º/s/s: "), tiltStepsToDegrees(tilt_acceleration));
// printi(F("Slider acceleration mm/s/s: "), sliderStepsToMillimetres(slider_acceleration));
// printi(F("Pan min limit: "), limit_pan_min, 3, F("º\n"));
// printi(F("Pan max limit: "), limit_pan_max, 3, F("º\n"));
// printi(F("Tilt min limit: "), limit_tilt_min, 3, F("º\n"));
// printi(F("Tilt max limit: "), limit_tilt_max, 3, F("º\n"));
// printi(F("Slider min limit: "), limit_slider_min, 3, F("mm\n"));
// printi(F("Slider max limit: "), limit_slider_max, 3, F("mm\n"));
// printi(F("Enable limits: "), enable_limits);
printi(F("Slider max speed: "), sliderStepsToMillimetres(stepper_slider.maxSpeed()), 3, F("mm/s\n"));
// printi(F("Pan invert direction: "), invert_pan);
// printi(F("Tilt invert direction: "), invert_tilt);
// printi(F("Slider invert direction: "), invert_slider);
@@ -772,8 +759,10 @@ void timelapse(unsigned int numberOfPictures, unsigned long msDelay){
}
/*--------------------------------------------------------------------------------------------------------------------------------------------------------*/
bool calculateTargetCoordinate(void){
//From the first two keyframes the intercept of where the camera is directed is calculated.
//The first kayframe's x pan and tilt positions are used to calculate a 3D vector. The second keyframe's x and pan position are used to calculate a vertical plane. (It wuld be almost impossible for 2 3D vectors to intercept due to floating point precision issues.)
//The intercept of the vectorand plane are then calculated to give the X, Y, Z coordinates of the point the camera was pointed at in both keyframes. (The second keyframe will ignore the tilt value and calculate it based on the first keyframes vector.)
bool calculateTargetCoordinate(void){
float m1, c1, m2, c2;
LinePoints line0;
@@ -807,7 +796,7 @@ bool calculateTargetCoordinate(void){
intercept.y = m1 * intercept.x + c1;
}
else{
if(m1 == m2){
if(m1 == m2){ //If the angle of the slope of both lines are the same they are parallel and cannot intercept.
printi(F("Positions do not intersect."));
return false;
}
@@ -816,7 +805,7 @@ bool calculateTargetCoordinate(void){
}
intercept.z = tan(degToRads(tiltStepsToDegrees(keyframe_array[0].tiltStepCount))) * sqrt(pow(intercept.x - sliderStepsToMillimetres(keyframe_array[0].sliderStepCount), 2) + pow(intercept.y, 2));
if(((panStepsToDegrees(keyframe_array[0].panStepCount) > 0 && panStepsToDegrees(keyframe_array[1].panStepCount) > 0) && intercept.y < 0)
|| ((panStepsToDegrees(keyframe_array[0].panStepCount) < 0 && panStepsToDegrees(keyframe_array[1].panStepCount) < 0) && intercept.y > 0) || intercept.y == 0){
|| ((panStepsToDegrees(keyframe_array[0].panStepCount) < 0 && panStepsToDegrees(keyframe_array[1].panStepCount) < 0) && intercept.y > 0) || intercept.y == 0){ //Checks that the intercept point is in the direction the camera was pointing and not on the opposite side behind the camera.
printi(F("Invalid intercept.\n"));
return false;
}
@@ -825,7 +814,7 @@ bool calculateTargetCoordinate(void){
/*--------------------------------------------------------------------------------------------------------------------------------------------------------*/
void interpolateTargetPoint(FloatCoordinate targetPoint, int repeat){
void interpolateTargetPoint(FloatCoordinate targetPoint, int repeat){ //The first two keyframes are interpolated between while keeping the camera pointing at previously calculated intercept point.
if(keyframe_elements < 2){
printi(F("Not enough keyframes recorded\n"));
return; //check there are posions to move to
@@ -1109,11 +1098,16 @@ void serialData(void){
stepper_slider.setMaxSpeed(sliderMillimetresToSteps(slider_max_speed));
}
break;
case INSTRUCTION_CALCULATE_TARGET_POINT:{
if(calculateTargetCoordinate()){
printi("Target coordinates:\tx: ", intercept.x, 3, "\t");
printi("y: ", intercept.y, 3, "\t");
printi("z: ", intercept.z, 3, "mm\n");
}
}
break;
case INSTRUCTION_ORIBIT_POINT:{
if(calculateTargetCoordinate()){
printi("Target coordinates: \nx: ", intercept.x, 3, " mm\n");
printi("y: ", intercept.y, 3, " mm\n");
printi("z: ", intercept.z, 3, " mm\n");
interpolateTargetPoint(intercept, serialCommandValueInt);
}
}