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pan_tilt_mount_nano_code_pcb/panTiltMount.cpp

@@ -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("Pan max steps/s: "), stepper_pan.maxSpeed());
-//    printi(F("Tilt maximum steps/s: "), stepper_tilt.maxSpeed());
+    printi(F("Tilt max steps/s: "), stepper_tilt.maxSpeed());
-//    printi(F("Slider maximum steps/s: "), stepper_slider.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("Pan invert direction: "), invert_pan);
 //    printi(F("Tilt invert direction: "), invert_tilt);
 //    printi(F("Slider invert direction: "), invert_slider);
@@ -772,7 +759,9 @@ void timelapse(unsigned int numberOfPictures, unsigned long msDelay){
 }
 
 /*--------------------------------------------------------------------------------------------------------------------------------------------------------*/
-
+//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;
     
@@ -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);
             }
         }

pan_tilt_mount_nano_code_pcb/panTiltMount.h

@@ -78,6 +78,7 @@
 #define INSTRUCTION_SET_SLIDER_SPEED 'X'
 #define INSTRUCTION_ORIBIT_POINT '@'
 #define INSTRUCTION_SLIDER_HOME 'Z'
+#define INSTRUCTION_CALCULATE_TARGET_POINT 'T'
 
 #define EEPROM_ADDRESS_ENABLE_HOMING 0
 #define EEPROM_ADDRESS_PAN_MAX_SPEED 17
@@ -98,7 +99,7 @@
 #define NUM_LEDS 1
 #define BRIGHTNESS 255
 
-#define VERSION_NUMBER "3.2.5"
+#define VERSION_NUMBER "3.2.7"
 
 /*------------------------------------------------------------------------------------------------------------------------------------------------------*/
 

pan_tilt_mount_nano_code_pcb/pan_tilt_mount_nano_code_pcb.ino

@@ -18,7 +18,7 @@
  * 
  * Code written by isaac879
  * 
- * Last modified: 05/06/2020
+ * Last modified: 07/06/2020
  *
  *--------------------------------------------------------------------------------------------------------------------------------------------------------*/
 //TODOs: